User`s guide

Keyword Type Function
DEPART PI Start a joint-interpolated robot motion away from
the current location.
DEPARTS PI Start a straight-line robot motion away from the
current location.
DEST TF Return a transformation value representing the
planned destination location for the current robot
motion.
DISTANCE RF Determine the distance between the points defined
by two location values.
DRIVE PI Move an individual joint of the robot.
DRY.RUN S Control whether or not V+ communicates with the
robot.
DURATION PI Set the minimum execution time for subsequent
robot motions.
DURATION RF Return the current setting of one of the motion
DURATION specifications.
DX RF Return the X displacement component of a given
transformation value.
DY RF Return the Y displacement component of a given
transformation value.
DZ RF Return the Z displacement component of a given
transformation value.
FINE PI Enable a high-precision feature of the robot
hardware servo (see COARSE).
FLIP PI Request a change in the robot configuration during
the next motion so that the pitch angle of the robot
wrist has a negative value (see NOFLIP).
FORCE S Control whether or not the (optional) stop-on-force
feature of the V+ system is active.
Summary of Motion Keywords
V+Language User's Guide, v17.0
Page 192