IAI America XSEL-QX - Manual (Page 239)

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Part 4 Commands
z SLWK (Dedicated SCARA command: select load 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 SLWK
Load coordinate
system number
Prohibited CP
[Function] Set the value specified in operand 1 as the selected load 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 load 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 load coordinate system number can be selected in the system.
(Note 4) Expressly declare SLWK 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 SLWK = 0, if load coordinate system is not used.)