IAI PSEL, Руководство по эксплуатации

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[1
1] Actuator
Control
Declaration
327
z
SLWK (Dedicated SCARA command/Select work coordinate system)
Command, declaration Extension
condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command,
declaration
Operand 1 Operand 2
Output
(Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional SLWK
Work
coordinate
system
number
Prohibited CP
Applicable models
XSEL
-J/K
XSEL
-P/Q/
PCT/QCT
XSEL
-R/S
XSEL
-JX/KX
XSEL
-PX/QX
XSEL
-RX/SX/
RXD/SXD
ASEL
PSEL
SSEL
TT/TTA MSEL
u u u
{ { {
u u
{
(PCX/PGX
only)
[Function] Set the work coordinate system selection number in operand 1.
(Note 1) The tool/work coordinate systems are functions available for SCARA.
(Note 2) The selected number last declared in the system becomes effective.
The selected work coordinate system number will remain effective even after the
program ends, and also after the power is reconnected if the system-memory
backup battery is installed
(Note 6)
.
(Note 3) Only one work coordinate system selection number is present within the system.
(Note 4) Expressly declare SLWK in the program to prevent unwanted problems resulting
from forgetting to reset the coordinate system selection number after changing it
in the PC software or on the teaching pendant.
(Execute SLWK 0, if the work coordinate system is not used.)
(Note 5) In XSEL-RX/SX/RXD/SXD 8-axes Series, GRP and BASE Command are
available also in the actuator control declaration commands SLTL, SLWK, WGHT,
WGT2, PTPR, PTPL PTPE, PTPD, RIGH, LEFT and the system information
acquirement command GARM. Establish the setting to have all the SCARA axes
valid. Error No. C30 “Axis Pattern Error” will occur if even one axis is set invalid
by GRP and BASE Commands.
When GRP and BASE Commands are undeclared, all the axes are effective
(equivalent to GRP 11111111).
(Note 6) XSEL-RX/SX/RXD/SXD save the tool coordinate system numbers without using a
battery.
[Example 1] GRP 1111 It makes the 1st to 4th axes effective.
SLWK 1 Selected work coordinate system of the SCARA
axes (1st to 4th axes) is changed to No. 1.
[Example 2] GRP 11111111 It makes the 1st to 8th axes effective.
SLWK 2 Selected work coordinate system of the SCARA
axes (1st to 4th axes) and the SCARA axes (5th to
8th axes) is changed to No. 1.