What does the MODIFY key allow?

• A. To insert a new step anywhere.
• B. Only the COMMAND POSITION for a motion step address to be changed; Instruction Side information does not change.
• C. All fields in the Edit Buffer to be edited.
• D. To change speed tags.

Answer: (B)

The main idea here is that the MODIFY function is used to change only the target coordinates of a motion step, not the accompanying setup information. In a motion step, you typically have two parts: the command position (the actual coordinates or pose the robot should reach) and the instruction side information (things like speed, approach, or other control flags). Using MODIFY updates the command position for that step while leaving the instruction side information intact. This lets you adjust where the robot goes without altering how it should move or how fast it should execute the step.

Inserting a new step would add material, not modify it, so it isn’t what MODIFY does. Trying to edit all fields would go beyond what MODIFY changes, since it’s restricted to the command position. Changing speed tags affects the instruction side information, which MODIFY does not alter.