IAI America XSEL-KX - Manual (Page 171)

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Part 4 Commands
 PTPD (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))
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command, declaration
Output
(Output, flag)
Command,
declaration
Operand 1 Operand 2
Optional Optional PTPD Prohibited Prohibited CP
[Function] Specify the current arm system as the target arm system for PTP operation command. Once
a PTPD command is executed, the target arm system for 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.)