User`s guide

Keyword Type Function
sign.
SET.SPEED S Control whether or not the monitor speed can be
changed from the manual control pendant. The
monitor speed cannot be changed when the switch
is disabled.
SHIFT TF Return a transformation value resulting from
shifting the position of the transformation
parameter by the given shift amounts.
SINGLE PI Limit rotations of the robot wrist joint to the range -
180 degrees to +180 degrees (see MULTIPLE).
SOLVE.ANGLES PI Compute the robot joint positions (for the current
robot) that are equivalent to a specified
transformation.
SOLVE.FLAGS RF Return bit flags representing the robot configuration
specified by an array of joint positions.
SOLVE.TRANS PI Compute the transformation equivalent to a given
set of joint positions for the current robot.
SPEED PI Set the nominal speed for subsequent robot
motions.
SPEED RF Return one of the system motion speed factors.
STATE RF Return a value that provides information about the
robot system state.
TOOL PI Set the internal transformation used to represent
the location and orientation of the tool tip relative to
the tool mounting flange of the robot.
TOOL TF Return the value of the transformation specified in
the last TOOL command or instruction.
TRANS TF Return a transformation value computed from the
given X, Y, Z position displacements and y, p, r
orientation rotations.
Summary of Motion Keywords
(Undefined variable: Primary.Product_Name_V)Language User's Guide, version
17.x
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