IAI X-SEL PX, Operation Manual, Page: 357 / 560

329
Part 4 Commands
In the figure, a black arrow indicates a movement involving change of arm systems.
A white arrow indicates a movement not involving change of arm systems.
The striped arm represents the right arm system, while the white arm represents the left arm system.
(1) PTPD
After a PTPD command is executed, the robot will move the current arm system to perform
positioning. The PTPD command prohibits the current arm system and target arm system from
becoming the opposite arm systems. Attempting a movement to an area where positioning is
possible only with the opposite arm system will generate an error (C73: Target-locus soft limit over
error).
When a program is started, the robot is already in a PTPD-declared mode even before executing a
PTPD command.
a. Starting with the right arm system
:
:
:
PTPD
MOVP 2
MOVP
3  C73 error will generate.
[2] Starting with the left arm system
:
:
:
PTPD
MOVP 2
MOVP 3
MOVP 2
MOVP 1
MOVP
4  C73 error will generate.
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330
Part 4 Commands
(2) PTPE
After a PTPE command is executed, the robot will give priority to movements and positioning
operations using the current arm system. The PTPE command permits the current arm system and
target arm system to become the opposite arm systems. Therefore, movements to an area
accessible only by the opposite arm system will also be enabled.
After permitting movements to an area accessible only by the opposite arm system, prohibition of
such movements can be effectuated by executing a PTPD command.
[1] Starting with the right arm system
:
:
:
PTPE
MOVP 2
MOVP 3
MOVP 2
MOVP 1
MOVP 4
EXIT
[2] Starting with the left arm system
:
:
:
PTPE
MOVP 2
MOVP 3
MOVP 2
MOVP 1
MOVP 4
EXIT
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2
3 4
1
2
3 4
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