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.
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]