IAI America XSEL-QX - Manual (Page 354)

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Part 4 Commands
(2) PTPE
After a PTPE command is executed, the robot will give priority to movements and positioning
operations using the current arm system. The PTPE command permits the current arm system and
target arm system to become the opposite arm systems. Therefore, movements to an area
accessible only by the opposite arm system will also be enabled.
After permitting movements to an area accessible only by the opposite arm system, prohibition of
such movements can be effectuated by executing a PTPD command.
[1] Starting with the right arm system
:
:
:
PTPE
MOVP 2
MOVP 3
MOVP 2
MOVP 1
MOVP 4
EXIT
[2] Starting with the left arm system
:
:
:
PTPE
MOVP 2
MOVP 3
MOVP 2
MOVP 1
MOVP 4
EXIT
1 2
3 4
1 2
3 4