MC-Basic:robot.ARCH

Language:	English

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.

The nodal parameter ArchNo specifies which Arch pair will be used in the JUMP command. If ArchNo is not specified, there shall be no blending between the three segments of the the JUMP command.

JUMP3CP motion

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]
JUMP <target point> ArchNo = <x>

See Also

• JUMP
• LimZ