IAI America XSEL-QX User Manual
Page 297
273
Part 4 Commands
z GARM ((Dedicated SCARA command: Get current arm 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
GARM
Variable
number
Prohibited CP
[Function]
Obtain the current arm system and set in the variable specified in operand 1 one of the
following values corresponding to this arm system:
Arm system is indeterminable = 0
Right arm system = 1
Left arm system = -1
(Note 1)
This command sets the arm system immediately after command execution. The arm
system will not be monitored continuously.
[Example]
GARM
200
Set "1" in variable No. 200 if the current arm system is
the right arm system, or "-1" if the current arm system is
the left arm system.