IAI X-SEL PX, Руководство по эксплуатации, Страница: 366 / 560

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Part 4 Commands
(2) Positioning on the load coordinate system
Perform positioning after selecting a desired load coordinate system.
Use a SLWK command to select a load coordinate system number in a SEL program.
The selected load coordinate system number will remain valid after the program ends, and even
after reconnection of power if a system-memory backup battery is installed.
[1] When positioning to position Nos. 5 and 6 in PTP mode on load coordinate system No. 1
Program example
:
:
:
SLWK 1 Select load coordinate
system No. 1.
SLTL 0 Select tool coordinate
system No. 0.
PTPR Specify the right arm as the
PTP target arm system.
MOVP 5 Move to position No. 5.
MOVP 6 Move to position No. 6.
:
:
:
The R-axis position will be as shown in the
figure at left (top view).
The Z-axis position will be as follows:
Position No. 5: Zb = 0
Position No. 6: Zb = 20
Position No. 5
Position No. 6
200
Yw1
Xw1
50
D-cut surface
of R-axis
Position No. 6
Position No. 5
Yw1
Xw1
30

50
Yb
Xb
40 
200
340
Part 4 Commands
[2] When positioning to position Nos. 5 and 6 in PTP mode on load coordinate system No. 2
Program example
:
:
:
SLWK 2 Select load coordinate
system No. 2.
SLTL 0 Select tool coordinate
system No. 0.
PTPR Specify the right arm as the
PTP target arm system.
MOVP
5 Move to position No. 5.
MOVP 6 Move to position No. 6.
:
:
:
The R-axis position will be as shown in the
figure at left (top view).
The Z-axis position will be as follows:
Position No. 5: Zb = 25
Position No. 6: Zb = 45
Position No. 6
Position No. 5
200
Yw2
Xw2
50
D-cut surface of R-axis
Position No. 6
Position No. 5
Yw2
Xw2
–20 
50
Yb
Xb
40 
200
(- direction)
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