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Part 4 Commands

2.2 Arm-System Control Commands

The right and left arm systems are defined as the opposite arm systems to the left and right arm

systems, respectively.

The actual arm system that is currently effective is defined as the current arm system.

The arm system to be used for positioning to the target using a movement command is defined as

the target arm system.

The commands used to control the robot's arm system include PTPD, PTPE, PTPR, PTPL, RIGH

and LEFT.

PTPD, PTPE, PTPR and PTPL are control declaration commands for the target arm system in PTP

operation. Therefore, once executed these commands will remain valid while the program is running.

CP operation commands do not accompany change of arm systems during command execution, so

they are not affected by the above commands and the relevant operations will be performed by the

current arm system.

Only one of PTPD, PTPE, PTPR and PTPL, whichever is executed last, will become valid.

RIGH and LEFT are control commands for the current arm system.

2.3 Arm-System Control Commands and Change of Arm Systems

This section explains the arm-system control commands and how the arm system changes in PTP

operation after declaration of each command.

Position Nos. 1 to 4 are set as illustrated below ([1] to [4]).

Movement in the order of 1 → 2 → 3 → 2 → 1 → 4 will be attempted using MOVP commands (PTP

operation).

The robot is initially resting at position No. 1.

Position No. 3 exists inside an area accessible only by the left arm system. (Positioning to this point

cannot be performed with the right arm system.)

Position No. 4 exists inside an area accessible only by the right arm system. (Positioning to this

point cannot be performed with the left arm system.)

Arm-system control commands

MOVP

MOVP 3

MOVP 2

MOVP 1

MOVP

EXIT

How the arm system will change is explained for each arm-system control command.

: Area accessibly only

by the right arm

system

: Area accessibly only by

the left arm system

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Iai-america XSEL-KX Bedienungsanleitung Seite 254