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ARMTYP 8-25
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ARMTYP
Sets/acquires the hand system selection during program reset
Format
ARMTYP [robot number] expression
Values
robot number
.........................1 to 4 (If not input, robot 1 is specified.)
expression
..............................1: right hand system; 2: left hand system
Explanation
This function sets the hand system at program reset of the SCARA robot. A robot to set
a hand system selection is specified by the <
robot number>
.
SAMPLE
ARMTYP[2] 2 ···················· Sets the left-handed system for the
hand system of the robot 2.
Functions
Format
ARMTYP [robot number]
Values
robot number
.........................1 to 4 (If not input, robot 1 is specified.)
Explanation
This function provides the hand system at program reset of the SCARA robot. The
robot to acquire a hand system is specified by the <
robot number>
.
The arm type is "1" for a right-handed system, and "2" for a left-handed system.
SAMPLE
A=ARMTYP The arm type value of robot 1 is assigned to the variable A.
IF A=1 THEN ···················· The arm type is a right-handed system.
MOVE P,P100,Z=0
ELSE
····················· The arm type is a left-handed system.
MOVE P,P200,Z=0
ENDIF
HALTALL
Program reset
Summary of Contents for SCARA YRCX Series
Page 1: ... 7 6HULHV DW 1R 1 5 5RERW RQWUROOHU 352 5 00 1 0 18 6 5 5RERWV 5 6HULHV ...
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Page 27: ...Chapter 2 Constants 1 1 Outline 2 1 2 2 Numeric constants 2 1 3 3 Character constants 2 2 ...
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Page 61: ...Chapter 5 Multiple Robot Control 1 1 Overview 5 1 2 2 Command list with a robot setting 5 2 ...
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Page 409: ...Chapter 11 User program examples 1 1 Basic operation 11 1 2 2 Application 11 8 ...
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Page 489: ...Chapter 13 Appendix 1 1 Reserved word list 13 1 2 2 Changes from conventional models 13 3 ...
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