Instruction Manual

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
–20q
50
Yb
Xb
40q
200
(- direction)