IAI America XSEL-QX - Manual (Page 237)

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Part 4 Commands
z GTTL (Dedicated SCARA command: Get tool coordinate system definition data)
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 GTTL
Tool coordinate
system number
Position
number
CP
[Function] Set in the position data specified in operand 2 the offset data for the tool coordinate system
specified in operand 1. The offset data for tool coordinate system corresponding to all
SCARA axes will be set in the position data.
(Note 1) The tool and load coordinate systems are dedicated SCARA functions.
(Note 2) When this command is executed, the position data for axis 5 and subsequent axes will be
cleared.
Accordingly, do not specify any position currently used in linear movement axis operation.
(Note 3) Tool coordinate system No. 0 is reserved for a condition where no tool offset is applicable.
Therefore, setting this coordinate system number will generate an "Error No. B71:
Coordinate system number error."
(Note 4) GRP commands are invalid with respect to this command.
[Example 1] OFST 110 50 The specified Y and Z-axis positions will be incremented
by 50 mm.
[Example 2] LET
OFST 1
1000 30
*1 Assign 30 to variable 1.
The specified R-axis position will be incremented by the
content of variable 1 (30 ).
[Example] GTTL 1 150