IAI America XSEL-KX - Manual (Page 169)

153
Part 4 Commands
 PTPR (Specify right arm as PTP target arm system (Movement of the opposite arm system is
prohibited when the target value cannot be achieved) (No arm operation))
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 PTPR Prohibited Prohibited CP
[Function] Specify the right arm system as the target arm system for PTP operation command. Once a
PTPR command is executed, the target arm system for PTP operation command will become
the right arm system and any target value that cannot be achieved with the right 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.)