IAI America XSEL-QX - Manual (Page 244)

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Part 4 Commands
z PTPL (Dedicated SCARA command: specify left arm as PTP target arm system (Movement of the
opposite arm system is prohibited when the target value cannot be achieved) (No arm operation))
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 PTPL Prohibited Prohibited CP
[Function] Specify the left arm system as the target arm system for SCARA PTP operation command.
Once a PTPL command is executed, the target arm system for SCARA PTP operation
command will become the left arm system and any target value that cannot be achieved
with the left arm system will generate an error. Executing this command itself will not
accompany any arm operation.
(For details, refer to 2, "Arm System," in Chapter 3 of Part 4.)