IAI PSEL, Operation Manual

Page: 543 / 1062

1. Preparation in
Advance
49
(Example 2) Position to Position No. 5 and No. 6 via PTP operation on Work Coordinate
System No. 2.
The R-axis position is shown to the left
(viewed from above).
The Z-axis position is as follows:
Position No. 5 Zb = 25
Position No. 6 Zb = 45
Position No. 5
Position No. 6
Position No. 5
Position No. 6
D-cut surface
of R-axis
(- direction)
Program example
:
:
:
SLWK
2 Select Work Coordinate System No. 2
SLTL 0 Select Tool Coordinate System No. 0
PTPR Specify right arm of PTP target arm system
MOVP 5 Move to Position No. 5.
MOVP 6 Move to Position No. 6.
:
:
: