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.

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]

See Also

• JUMP
• LimZ