LEFTY program instruction LEFTY program instruction Syntax LEFTY Function Request a change in the robot configuration during the next motion so that the first two links of a SCARA robot resemble a human's left arm. Usage Considerations Configuration changes cannot be made during straight-line motions. If the selected robot does not support a left-handed configuration, this instruction is ignored by the robot. The LEFTY instruction can be executed by any program task as long as the robot selected by the task is not attached by any other task, however if the robot is not attached, this instruction has no effect. The instruction applies to the robot selected by the task.
If the eV+ system is not configured to control a robot, executing the LEFTY instruction causes an error. The following figure shows the LEFTY/RIGHTY configurations (top view of robot). LEFTY/RIGHTY eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 323