IAI America XSEL-QX - Manual (Page 238)

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Part 4 Commands
z DFWK (Dedicated SCARA command: define load 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 DFWK
Load coordinate
system number
Position
number
CP
[Function] Set the position data specified in operand 2 as the offset data for the load coordinate
system specified in operand 1. The offset data for load coordinate system will include the
specified position data corresponding to all axes, 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) Load coordinate system No. 0 is reserved as the base coordinate system. 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] DFWK 1 160
Position data