User`s guide

Keyword Type Function
READY PI Move the robot to the READY location above the
workspace, which forces the robot into a standard
configuration.
RELAX PI Limp the pneumatic hand.
RELAXI PI Limp the pneumatic hand immediately.
RIGHTY PI Request a change in the robot configuration during
the next motion so that the first two links of the
robot resemble a human's right arm (see LEFTY).
ROBOT S Enable or disable one robot or all robots.
RX TF Return a transformation describing a rotation about
the x axis.
RY TF Return a transformation describing a rotation about
the y axis.
RZ TF Return a transformation describing a rotation about
the z axis.
SCALE TF Return a transformation value equal to the
transformation parameter with the position scaled
by the scale factor.
SCALE.ACCEL S Enable or disable the scaling of acceleration and
deceleration as a function of program speed.
SCALE.ACCEL.ROT S Specify whether or not the SCALE.ACCEL switch
takes into account the Cartesian rotational speed
during straight-line motions.
SELECT PI Select the unit of the named device for access by
the current task.
SELECT RF Return the number of the currently selected unit of
the named device type.
SET PI Set the value of the location variable on the left
equal to the location value on the right of the equal
Summary of Motion Keywords
V+Language User's Guide, v17.0
Page 196