User`s guide

Keyword Type Function
FRAME TF Return a transformation value defined by four
positions.
HAND RF Return the current hand opening.
HAND.TIME P Establish the duration of the motion delay that
occurs during OPENI, CLOSEI, and RELAXI
instructions.
HERE PI Set the value of a transformation or precision-point
variable equal to the current robot location.
HERE TF Return a transformation value that represents the
current location of the robot tool point.
HOUR.METER RF Return the current value of the robot hour meter.
IDENTICAL RF Determine if two location values are exactly the
same.
INRANGE RF Return a value that indicates if a location can be
reached by the robot, and if not, why not.
INVERSE TF Return the transformation value that is the
mathematical inverse of the given transformation
value.
IPS CF Specify the units for a SPEED instruction as inches
per second.
LATCH TF Return a transformation value representing the
location of the robot at the occurrence of the last
external trigger.
LATCHED RF Return the status of the external trigger and of the
information it causes to be latched.
LEFTY PI Request a change in the robot configuration during
the next motion so that the first two links of a
SCARA robot resemble a human's left arm (see
RIGHTY).
Summary of Motion Keywords
(Undefined variable: Primary.Product_Name_V)Language User's Guide, version
17.x
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