IAI America XSEL-KX - Manual (Page 78)

62
Part 3 Controller Data Structure
(2) Axis pattern
Whether or not each axis will be used is indicated by “1” or “0.”
(Upper) (Lower)
Axis R-axis Z-axis Y-axis X-axis
Used 1 1 1 1
Not used 0 0 0 0
(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.
[Example]
When the X and Y-axes are used
Y-axis
0011 --- (The two 0s in front are not necessary. With the 0s removed, the expression reads “11.”)
X-axis
[Example]
When the X and R-axes are used
R-axis
1001 --- (In this case, the 0s are needed to indicate the position of axis 4.)
X-axis
Indirect specification of axis pattern in a variable
The axis pattern is considered a binary value, and a converted decimal value is assigned to a variable.
If you must select and specify multiple axes at the same time, use axis pattern.
• Commands that use axis specification based on axis pattern
OFST, GRP, PTST, PRED, PBND
(Note) With SVON, SVOF and STOP, all axes are specified regardless of the axis pattern.