IAI America XSEL-KX - Manual (Page 270)

254
Part 4 Commands
[2] When positioning the tool tip on tool coordinate system No. 2 to position Nos. 5 and 6 on load
coordinate system No. 1 in PTP mode
Program example
:
:
:
SLWK 2 Select load coordinate
system No. 2.
SLTL 1 Select tool coordinate
system No. 1.
PTPR Specify the right arm as the
PTP target arm system.
MOVP 5 Move to position No. 5.
MOVP 6 Move to position No. 6.
:
:
:
The Z-axis position of tool tip will be as
follows:
Position No. 5: Zb = 25
Position No. 6: Zb = 45
100
Yb
50
Yw2
200
Xw2
40
°
–20
°
–400 0
–Xb