User`s guide

Keyword Type Function
round-off errors.
NOT.CALIBRATED P Indicate (or assert) the calibration status of the
robots connected to the system.
NULL TF Return a null transformation value-one with all zero
components.
NULL PI Enable nulling of joint position errors.
OPEN PI Open the robot gripper.
OPENI PI Open the robot gripper immediately.
OVERLAP PI Generate a program error if a subsequent motion is
planned that causes a selected multi-turn axis to
move more than ±180 degrees to avoid a limit stop
(see NOOVERLAP).
PAYLOAD PI Set an indication of the current robot payload.
#PDEST PF Return a precision-point value representing the
planned destination location for the current robot
motion.
#PHERE PF
Return a precision-point value representing the
current location of the currently selected robot.
#PLATCH PF Return a precision-point value representing the
location of the robot at the occurrence of the last
external trigger.
POWER S Control or monitor the status of Robot Power.
#PPOINT PF Return a precision-point value composed from the
given components.
REACTI PI Initiate continuous monitoring of a specified digital
signal. Automatically stop the current robot motion
if the signal properly transitions and optionally
trigger a subroutine call.
Summary of Motion Keywords
(Undefined variable: Primary.Product_Name_V)Language User's Guide, version
17.x
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