Armsel; 6 Armsel - Omron SCARA YRCX Series Programming Manual

6

ARMSEL

8
Sets/acquires the current hand system selection
A
B
C
D
E
F
G
H
I
J
K
L
M
8-24 Chapter 8 Robot Language Lists
Format
ARMSEL [robot number]
Values robot number .........................1 to 4 (If not input, robot 1 is specified.)
expression ..............................1: right hand system; 2: left hand system
Explanation This function sets the current hand system selection of the SCARA robot. A robot to
set a hand system is specified by the <robot number>.
SAMPLE
ARMSEL[2] 2 ···················· Sets the left-handed system for the
Functions
Format
ARMSEL [robot number]
Values robot number .........................1 to 4 (If not input, robot 1 is specified.)
Explanation This function acquires the hand system currently selected for the SCARA robot. The
robot to acquire a hand system is specified by the <robot number>.
The arm type is "1" for a right-handed system, and "2" for a left-handed system.
SAMPLE
A=ARMSEL ····················· The current hand system selection of
IF A=1 THEN ····················· The hand system selection is
MOVE P,P100,Z=0
ELSE ····················· The hand system selection is
MOVE P,P200,Z=0
ENDIF
expression
hand system selection of the robot 2.
robot 1 is assigned to the variable A.
a right-handed system.
a left-handed system.