Difference between revisions of "MC-Basic:robot.ARCH"
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:Arch[x][2] = 20 + 10*x | :Arch[x][2] = 20 + 10*x | ||
:for x = 1..7. | :for x = 1..7. | ||
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| + | <td>[[File:JUMP3CP.png|thumb|500px|JUMP3CP motion]]</td> | ||
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Revision as of 11:39, 29 April 2026
| Language: | English |
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- Arch is used for the JUMP, JUMP3 and JUMP3CP motion cammands.
- Arch[<index>][1] specifies the length that will not be blended along the first JUMP segment, whereas Arch[<index>][2] specifies the length that will not be blended along the third JUMP segment.
- There are 7 available Arch pairs:
- Arch[1][1], Arch[1][2]
- ...
- Arch[7][1], Arch[7][2]
- The default values are:
- Arch[x][1] = 20 + 10*x
- Arch[x][2] = 20 + 10*x
- for x = 1..7.
Syntax
<robot_name>.Arch[<index>][1] = <value1>
<robot_name>.Arch[<index>][2] = <value2>
?<robot_name>.Arch[<index>][1] ?<robot_name>.Arch[<index>][2]
Availability
0.4.21.2r14
Type
Position
Range
0 to Maxdouble
Units
Position units
Scope
Configuration, Task, Terminal
Limitations
Modal only
Examples
SCARA.Arch[1][1] = 10
SCARA.Arch[1][2] = 15
?SCARA.Arch[2][1]