IAI America XSEL-KX - Manual (Page 167)

151
Part 4 Commands
 RIGH (Change current arm system to right arm (Arm 2 may operate if the current arm system is the
opposite arm))
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command, declaration
Output
(Output, flag)
Command,
declaration
Operand 1 Operand 2
Optional Optional RIGH Prohibited Prohibited PE
[Function] Change the current arm system to the right arm system. If the current arm system is the left
arm system, arm 2 will be operated to change the arm system to the right arm system. After
this operation, arms 1 and 2 will form a straight line. If the current arm system is the right arm
system, no arm operation will take place.
(For details, refer to 2, "Arm System," in Chapter 3 of Part 4.)
(Note 1) When a RIGH or LEFT command is used, the speed must be set via VELS even when PTP
operation commands are not used.