IAI America XSEL-KX - Manual (Page 77)

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Part 3 Controller Data Structure
1.10 Axis Specification
Axes can be specified based on axis number or axis pattern.
(1) Axis numbers and how axes are stated
Each of multiple axes is stated as follows:
Axis Axis number
X-axis 1
Y-axis 2
Z-axis 3
R-axis 4
The axis numbers stated above can also be expressed using symbols.
Use axis number if you wish to specify only one of multiple axes.
• Commands that use axis specification based on axis number
PPUT, PGET, AXST, PASE, PCHZ, ACHZ, PARG
(Note) The movements of arms 1 and 2 of the SCARA robot are linked.
It is not always the case that arm 1 is the X-axis and arm 2 is the Y-
axis.
It should be interpreted that the operation of X-axis (axis number =
1) represents operation in the X coordinate direction, while the
operation of the Y-axis (axis number = 2) represents operation in the
Y coordinate direction.
Note that the X-axis and Y-axis do correspond to the axes of arm 1
and arm 2, respectively, only when an AXST command is executed.