IAI America XSEL-QX - Manual (Page 235)

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Part 4 Commands
z DFTL (Dedicated SCARA command: Define tool coordinate system)
Command, declaration
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command,
declaration
Operand 1 Operand 2
Output
(Output, flag)
Optional Optional DFTL
Tool coordinate
system number
Position
number
CP
[Function] Set the position data specified in operand 2 as the offset data for the tool coordinate system
specified in operand 1.
The offset data for tool coordinate system corresponding to all SCARA axes will be set in
the position data, but the position data for invalid axes will be set as “zero offset.”
(Note 1) The tool and load coordinate systems are dedicated SCARA functions.
(Note 2) Tool coordinate system No. 0 is reserved for a condition where no tool offset is applicable.
Therefore, setting this coordinate system number will generate an "Error No. B71:
Coordinate system number error."
(Note 3) GRP commands are invalid with respect to this command.
[Example] DFTL 1 150
Position data