IAI X-SEL PX, Руководство по эксплуатации, Страница: 371 / 560

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Part 4 Commands
(2) Positioning using tool coordinate system offsets
Perform positioning after selecting a desired tool coordinate system.
Use a SLTL command to select a tool coordinate system number in a SEL program.
The selected tool 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 the tool tip on tool coordinate system No. 1 to position Nos. 5 and 6 on load
coordinate system No. 1 in PTP mode
Program example
:
:
:
SLWK 1 Select load coordinate
system No. 1.
SLTL 1 Select tool coordinate
system No. 1.
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 Z-axis position of tool tip will be as
follows:
Position No. 5: Zb = 0
Position No. 6: Zb = 20
The figure shown at left is a top view.
Position No. 6
200
Xw1
50
Position No. 5
Yw1
200
0
150
Xb
40

Yb
30 
344
Part 4 Commands
[2] When positioning the tool tip on tool coordinate system No. 2 to position Nos. 5 and 6 on load
coordinate system No. 1 in PTP mode
Program example
:
:
:
SLWK 2 Select load coordinate
system No. 2.
SLTL 1 Select tool coordinate
system No. 1.
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 Z-axis position of tool tip will be as
follows:
Position No. 5: Zb = 25
Position No. 6: Zb = 45
100
Yb
50
Yw2
200
Xw2
40

–20

–400 0
–Xb
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