IAI America XSEL-QX - Manual (Page 356)

332
Part 4 Commands
(4) PTPL
After a PTPL command is executed, the robot will perform positioning using the left arm system.
The PTPL command limits the target arm system to the left arm system. Therefore, attempting a
movement to an area where positioning is possible only with the right arm system will generate an
error (C73: Target-locus soft limit over error).
Executing a PTPL command itself will not trigger any arm operation.
If a PTP movement command is executed following a PTPL command when the current arm system
is the right arm system, the axes will move as the arm system changes from right to left and the
positioning will be performed using the left arm system.
[1] Starting with the right arm system
:
:
:
PTPL
MOVP 2
MOVP 3
MOVP 2
MOVP 1
MOVP
4 Ÿ C73 error will generate.
[2] Starting with the left arm system
:
:
:
PTPL
MOVP 2
MOVP 3
MOVP 2
MOVP 1
MOVP
4 Ÿ C73 error will generate.
1 2
3 4
1 2
3 4