IAI America XSEL-QX - Manual (Page 241)

217
Part 4 Commands
z RIGH (Dedicated SCARA command: change current arm system to right arm (Arm 2 may operate if the
current arm system is the opposite arm))
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 RIGH Prohibited Prohibited PE
[Function] Change the current SCARA arm system to the right arm system. If the current arm system
is the left arm system, arm 2 will be operated to change the arm system to the right arm
system. After this operation, arms 1 and 2 will form a straight line. If the current arm system
is the right arm system, no arm operation will take place.
(For details, refer to 2, "Arm System," in Chapter 3 of Part 4.)
(Note 1) When a RIGH or LEFT command is used, the speed must be set via VELS even when
SCARA PTP operation commands are not used.