Iai-america XSEL-QX Manuel d'utilisateur télécharger pdf (Page 246)

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Part 4 Commands

z PTPE (Dedicated SCARA command: specify current arm as PTP target arm system (Movement of the

opposite arm system is permitted when the target value cannot be achieved) (No arm operation))

Command, declaration

Extension condition

(LD, A, O, AB, OB)

Input condition

(I/O, flag)

Command,

declaration

Operand 1 Operand 2

Output

(Output, flag)

Optional Optional PTPE Prohibited Prohibited CP

[Function] Specify the current arm system as the target arm system for SCARA PTP operation

command. Once a PTPE command is executed, the target arm system for SCARA PTP

operation command will become the current arm system and any target value that cannot

be achieved with this arm system will be processed by changing the target arm system to

the opposite arm system. Any target value that cannot be achieved with either the right or

left arm system will generate an error. Executing this command itself will not accompany

any arm operation.

(For details, refer to 2, "Arm System," in Chapter 3 of Part 4.)

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Iai-america XSEL-QX Manuel d'utilisateur Page 246

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