ROBOT.OPR program instruction Supported Robot Modules eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 442 Robot Modul- e function _ code exp1, exp2,...exp- n Description XY3 (modul- e ID 21) When the system is first booted, the first Z/Theta pair is selected as the primary head, and the second and third heads are not slaved. The ROBOT.OPR program instruction must be executed to specify a different primary head, and to slave heads. The following points should be kept in mind when utilizing ROBOT.OPR to change the head selection: 1. This instruction breaks any executing continuous-path motion and modifies the head selection after the robot has come to a stop. 2.
Before you slave one head to another head, you should ensure that the Z and Theta values for the slave head are identical to those of the primary head. If any differences exist, at the start of the next motion, the axes of the slave head will quickly jump to the same joint positions as the primary head. 0 enables selection of the primary and slaved axes exp1 Number of the primary Z/Theta axes (1- N). exp2 (Optional) Number of the secondary Z/Theta axes (1-N). exp3 (Optional) Number of the third Z/Theta axes (1-N). exp4 (Optional) Number of the fourth Z/Theta axes (1-N). NOTE: "N" is the number of configured Z/Theta pairs, which can be 1 to 4.
There is no check for an axis pair being specified more than once. 1 enables definition of the exp1 Z offset for first slaved axes.