User`s guide

Keyword Type Function
MMPS CF Specify the units for a SPEED instruction as
millimeters per second.
MOVE PI Initiate a joint-interpolated robot motion to the
position and orientation described by the given
location.
MOVES PI Initiate a straight-line robot motion to the position
and orientation described by the given location.
MOVEF PI Initiate a three-segment pick-and-place joint-
interpolated robot motion to the specified
destination, moving the robot at the fastest
allowable speed.
MOVESF PI Initiate a three-segment pick-and-place straight-
line robot motion to the specified destination,
moving the robot at the fastest allowable speed.
MOVET PI Initiate a joint-interpolated robot motion to the
position and orientation described by the given
location and simultaneously operate the hand.
MOVEST PI Initiate a straight-line robot motion to the position
and orientation described by the given location and
simultaneously operate the hand.
MULTIPLE PI Allow full rotations of the robot wrist joints (see
SINGLE).
NOFLIP PI Request a change in the robot configuration during
the next motion so that the pitch angle of the robot
wrist has a positive value (see FLIP).
NONULL PI Instruct the V+ system not to wait for position
errors to be nulled at the end of continuous-path
motions (see NULL).
NOOVERLAP PI Disable the NOOVERLAP limit-error checking (see
OVERLAP.)
NORMAL TF Correct a transformation for any mathematical
Summary of Motion Keywords
V+Language User's Guide, v17.0
Page 194