IAI America XSEL-QX - Manual (Page 240)

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Part 4 Commands
z GTWK (Dedicated SCARA command: get load 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 GTWK
Load coordinate
system number
Position
number
CP
[Function] Set in the position data specified in operand 2 the offset data for the load coordinate system
specified in operand 1. The position data will include the specified offset data for load
coordinate system corresponding to all axes.
(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) Load coordinate system No. 0 is reserved as the base coordinate system. 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] GTWK 1 160