IAI R-unit RSEL, Instruction Manual, Page: 460 / 844

Chapter 7 6-axis Cartesian Robot
7.2 Caution When Using Orthogonal Coordinate System Features
7-21
ME0392-4C
7.2.7 Positioning in each coordinate system
(1) Specific Axis Coordinate System
Position indicated movement commands should be executed with Joint (Specific Axis) set in
the position type.
In operation in the specific axis coordinate system, the selected numbers in the work
coordinate system and the tool coordinate system should not impact the robot arrival position.
[Example in SEL Program]
VEL 100 Velocity 100mm/s
ACC 0.3 Acceleration 0.3G
DCL 0.3 Deceleration 0.3G
MOVP
1 Makes a drive in PTP operation to Position No. 1
MOVP 2 Makes a drive in PTP operation to Position No. 2
EXIT