IAI America XSEL-KX - Manual (Page 257)

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Part 4 Commands
(3) PTPR
After a PTPR command is executed, the robot will perform positioning using the right arm system.
The PTPR command limits the target arm system to the right arm system. Therefore, attempting a
movement to an area where positioning is possible only with the left arm system will generate an
error (C73: Target-locus soft limit over error).
Executing a PTPR command itself will not trigger any arm operation.
If a PTP movement command is executed following a PTPR command when the current arm
system is the left arm system, the axes will move as the arm system changes from left to right and
the positioning will be performed using the right arm system.
[1] Starting with the right arm system
:
:
:
PTPR
MOVP 2
MOVP 3
⇒ C73 error will generate.
[2] Starting with the left arm system
:
:
:
PTPR
MOVP 2
MOVP 3
⇒ C73 error will generate.
1 2
3 4
1 2
3 4