IAI X-SEL PX, Operation Manual, Page: 360 / 560

333
Part 4 Commands
(5) RIGH
The RIGH command changes the current arm system to the right arm system.
If a RIGH command is executed when the current arm system is the left arm system, arm 2 will
move until arms 1 and 2 form a straight line.
Executing a RIGH command when the current arm system is the right arm system will not trigger
any arm operation.
[1] Starting with the left arm system
:
:
:
RIGH
MOVP 2
MOVP 3

C73 error will generate.
In the above example, no arm-system control command is set except for a RIGH command and
therefore a PTPD command is valid.
The RIGH command controls only the current arm system. It does not limit the positioning arm in
PTP operation to the right arm system. Which arm system is used in a given positioning operation
will depend on which control declaration (PTPD, PTPE, PTPR or PTPL) is valid for the target arm
system. Therefore, the operation to follow a RIGH command execution will vary depending on the
valid control declaration for the target arm system.
[2] RIGH command when a PTPL command is valid
:
:
:
PTPL
:
:
:
RIGH
MOVP 2
MOVP 3
MOVP 2
MOVP 1
MOVP 4

C73 error will generate.
1 2
3
4
1 2
3 4
334
Part 4 Commands
(6) LEFT
The LEFT command changes the current arm system to the left arm system.
If a LEFT command is executed when the current arm system is the right arm system, arm 2 will
move until arms 1 and 2 form a straight line.
Executing a LEFT command when the current arm system is the left arm system will not trigger any
arm operation.
[1] Starting with the right arm system
:
:
:
LEFT
MOVP 2
MOVP 3
MOVP 2
MOVP 1
MOVP
4  C73 error will generate.
In the above example, no arm-system control command is set except for a LEFT command and
therefore a PTPD command is valid.
The LEFT command controls only the current arm system. It does not limit the positioning arm in
PTP operation to the left arm system. Which arm system is used in a given positioning operation will
depend on which control declaration (PTPD, PTPE, PTPR or PTPL) is valid for the target arm
system. Therefore, the operation to follow a LEFT command execution will vary depending on the
valid control declaration for the target arm system.
[2] LEFT command when a PTPR command is valid
:
:
:
PTPR
:
:
:
LEFT
MOVP 2
MOVP
3  C73 error will generate.
1 2
3 4
1 2
3
4
336