IAI PSEL, Руководство по эксплуатации

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3. Program
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3.6 For Advanced Operations (program edit)
3.6.1 Handling of Axis Numbers and Patterns
You can specify each axis using an axis number or multiple axes using an axis pattern.
[1] Axis number and indication of axis
Axes are indicated as follows so that multiple axes can be expressed.
To specify only one of multiple axes, specify it by the applicable axis number.
Single axis/rectangular axis
Axis Axis number
Axis 1 1
Axis 2 2
Axis 3 3
Axis 4 4
Axis 5 5
Axis 6 6
Axis 7 7
Axis 8 8
SSEL, ASEL and PSEL controllers support only up to two axes. TT
robots support only up to three axes.
In addition to following the above rule, you can also express axis numbers using symbols.
SCARA robot
Axis Axis number
X-axis 1
Y-axis 2
Z-axis 3
R-axis 4
In addition to following the above rule, you can also express axis numbers using symbols.
(Note) The movements of arms 1 and 2 of a SCARA robot are
interlocked. It is not that arm 1 always represents the X-axis
and arm 2, Y-axis.
Consider that the X-axis (axis No. 1) moves in the direction of
X coordinates, while the Y-axis (axis No. 2) moves in the
direction of Y coordinates.
Note that only when an AXST command is issued, the X-axis
represents the arm 1 axis, while the Y-axis represents the arm
2 axis.