IAI America XSEL-KX - Manual (Page 170)

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Part 4 Commands
 PTPL (Specify left 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 PTPL Prohibited Prohibited CP
[Function] Specify the left arm system as the target arm system for PTP operation command. Once a
PTPL command is executed, the target arm system for PTP operation command will become
the left arm system and any target value that cannot be achieved with the 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.)