IAI America XSEL-QX User Manual
Page 368
Advertising
344
Part 4 Commands
[2] When positioning the tool tip on tool coordinate system No. 2 to position Nos. 5 and 6 on load
coordinate system No. 1 in PTP mode
Program example
:
:
:
SLWK
2
Select load coordinate
system No. 2.
SLTL
1
Select tool coordinate
system No. 1.
PTPR
Specify the right arm as the
PTP target arm system.
MOVP
5
Move to position No. 5.
MOVP
6
Move to position No. 6.
:
:
:
The Z-axis position of tool tip will be as
follows:
Position No. 5: Zb = 25
Position No. 6: Zb = 45
100
Yb
50
Yw2
200
Xw2
40
q
–20
q
–400 0
–Xb
Advertising
This manual is related to the following products: