IAI America XSEL-KX - Manual (Page 172)

156
Part 4 Commands
 PTPE (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))
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 PTPE Prohibited Prohibited CP
[Function] Specify the current arm system as the target arm system for PTP operation command. Once
a PTPE command is executed, the target arm system for 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.
Target values 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.)