IAI America XSEL-QX - Manual (Page 243)

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Part 4 Commands
z PTPR (Dedicated SCARA command: specify right arm as PTP target arm system (Movement of the
opposite arm system is prohibited when the target value cannot be achieved) (No arm operation))
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 PTPR Prohibited Prohibited CP
[Function] Specify the right arm system as the target arm system for SCARA PTP operation
command. Once a PTPR command is executed, the target arm system for SCARA PTP
operation command will become the right arm system and any target value that cannot be
achieved with the right 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.)