IAI America XSEL-QX - Manual (Page 245)

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Part 4 Commands
z PTPD (Dedicated SCARA command: specify current 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 PTPD Prohibited Prohibited CP
[Function] Specify the current arm system as the target arm system for SCARA PTP operation
command. Once a PTPD command is executed, the target arm system for SCARA PTP
operation command will become the current arm system and any target value that cannot
be achieved with this 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.)