IAI America IA-101-X-USBMW - Manual (Page 151)

10. Coordinate System Definition Data Edit W
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[2] When performing PTP positioning to position No. 5 and No. 6 in work coordinate system No. 2.
Fig. 10.6 Position Data Screen: Work Coordinate System No. 2 Setting
Sample program
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:
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SLWK 2 Select work coordinate system No. 2.
SLTL 0 Select tool coordinate system No. 0.
PTPR Specify right arm as the PTP target arm.
MOVP 5 Move to position No. 5.
MOVP 6 Move to position No. 6.
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:
:
The R-axis position is shown at left (top view).
The Z-axis position is as follows:
Position No. 5 Zb = 25
Position No. 6 Zb = 45