9.5.3 Command Summary

DP (decrement position)

move to the previous numbered position

DW (draw)

HE (here)

Moves the tool from point to point

HO (Home)

Assigns the current position to a position number

IP (increment position)

Sets the cartesian reference coordinates

MA (move approach)

Move to the next numbered position

MC (move continuous)

Move from the current position to a new one

MJ (move joint)

Execute a continuous motion

MO

move a joint by a specified angle

MP

move the tool to a specified location

MS

Move the hand to a position

MT

Move in a straight line

NT

moves tool a specified distance

OG

return to the global origin

PA

move to the cartesian reference coordinates

PC

Define a pallet

PD

Clear position variables in memory

PL

Define a position in memory

PT

Copies a position variable to another

PX

Calculates a new pallet position

SF

Exchange two position variable values

SP

Shift the position variable through space

TI

Set the robot speed

TL

Pause for a set amount of time

Define the length of the tool