IAI America XSEL-QX - Manual (Page 236)

212
Part 4 Commands
z SLTL (Dedicated SCARA command: Select tool coordinate 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 SLTL
Tool coordinate
system number
Prohibited CP
[Function] Set the value specified in operand 1 as the selected tool coordinate system number.
Refer to 3, "Coordinate System," in Chapter 3 of Part 4.
(Note 1) The tool and load coordinate systems are dedicated SCARA functions.
(Note 2) The number declared last in the system becomes valid.
The selected tool coordinate system number will remain valid after the program ends, or
even after reconnection of power if a system-memory backup battery is installed.
(Note 3) Only one tool coordinate system number can be selected in the system.
(Note 4) Expressly declare SLTL in the program to prevent problems that may occur when the
coordinate system number changed via the PC software or teaching pendant was not
returned to the original setting.
(Set SLTL = 0, if tool coordinate system is not used.)