IAI PSEL, Operation Manual

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[1
1] Actuator
Control
Declaration
331
z
LEFT (Dedicated SCARA command/Change current arm system to left
arm (arm 2 operation involved if current arm system is opposite))
Command, declaration Extension
condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command,
declaration
Operand 1 Operand 2
Output
(Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional LEFT Prohibited Prohibited PE
Applicable models
XSEL
-J/K
XSEL
-P/Q/
PCT/QCT
XSEL
-R/S
XSEL
-JX/KX
XSEL
-PX/QX
XSEL
-RX/SX/
RXD/SXD
ASEL
PSEL
SSEL
TT/TTA MSEL
u u u
{ { {
u u
{
(PCX/PGX
only)
[Function] Change the current SCARA arm system to the left arm system. If the current arm
system is the right arm system, arm 2 is moved to change it to the left arm
system. After the operation, arms 1 and 2 form a straight line. No arm operation is
performed if the current arm system is the left arm system.
(Note 1) To use a RIGH or LEFT command, the speed must be set with VELS even when
a SCARA PTP operation command is not used.
(Note 2) In XSEL-RX/SX/RXD/SXD 8-axes Series, GRP and BASE Command are
available also in the actuator control declaration commands SLTL, SLWK, WGHT,
WGT2, PTPR, PTPL PTPE, PTPD, RIGH, LEFT and the system information
acquirement command GARM. Establish the setting to have all the SCARA axes
valid. Error No. C30 “Axis Pattern Error” will occur if even one axis is set invalid
by GRP and BASE Commands.
When GRP and BASE Commands are undeclared, all the axes are effective
(equivalent to GRP 11111111).
[Example 1] GRP 1111 It makes the 1st to 4th axes effective
LEFT The current arm system of the SCARA axes (1st to
4th axes) is changed to the right arm system.
[Example 2] GRP 11111111 It makes the 1st to 8th axes effective.
LEFT The current arm system of the SCARA axes (1st to
4th axes) and SCARA axes (5th to 8th axes) is
changed to the left arm system.