IAI PSEL, Operation Manual

Page: 828 / 1062

[1
1] Actuator
Control
Declaration
334
z
PTPD (Dedicated SCARA command/Specify PTP target arm system to
current arm (Movement of opposite arm system permitted (no operation
is performed) if target unachievable)
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 PTPD Prohibited Prohibited CP
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] Specify the target arm system for SCARA PTP operation commands to the
current arm system. After the PTPD command is executed, the target arm system
for SCARA PTP operation commands becomes the current arm system and an
error occurs if the target value cannot be achieved by operating on this arm
system. Executing this command does not initiate any arm operation.
(Note 1) 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.
PTPD PTP target arm system of the SCARA axes (1st to
4th axes) is indicated to the reversed arm system
move prohibited when it is not possible.
MOVP 1 Movement is made to Position No. 1 with the
current arm system.
(“C73: Target Track Software Limit Excess Error”
will occur when positioning cannot be performed
without changing to the reversed arm system.)
[Example 2] GRP 11111111 It makes the 1st to 8th axes effective.
PTPR PTP target arm system of the SCARA axes (1st to
4th axes) and SCARA axes (5th to 8th axes) is
indicated to the reversed arm system move
prohibited when it is not possible.
MOVP 2 Movement is made to Position No. 2 with the
current arm system.
(“C73: Target Track Software Limit Excess Error”
will occur when positioning cannot be performed
without changing to the reversed arm system.)