4-252
Detailed explanation of command words
[Explanation]
(1) The robot moves upward along the Z-axis direction from the current position, then moves to a position
above the target position, and finally moves downward, reaching the target position. This so-called arch
motion movement is performed with one instruction.
(2) If the Mva instruction is executed without the Def Arch instruction, the robot moves with the arch shape
configuration set in the parameters. Refer to
Page 201, " Def Arch (Define arch)"
for a detailed descrip-
tion about the parameters.
(3) The interpolation form, type and other items are also defined by the Def Arch instruction; refer to
201, " Def Arch (Define arch)"
(4) This command cannot be used in a constantly executed program.
(5) If paused during execution of a Mva instruction and restarted after jog feed, the robot returns to the inter-
rupted position and restarts the Mva instruction. (this can be changed by the "RETPATH" parameter).
The interpolation method (JOINT interpolation / XYZ interpolation) which returns to the interrupted posi-
tion can be changed by the "RETPATH" parameter. (Refer to
Page 482, "5.10 Automatic return setting
).
Fig.4-22:Example of arch interpolation motion path (seen from the side)
The robot's locus of movement may change with specified speed.
Especially as for the corner section, short cut distance may change. Therefore,
when beginning automatic operation, moves at low speed at first, and you should
gather speed slowly with being careful of interference with peripheral equipment.
[Related instructions]
,
,
DEF ARCH 1,5,5,20,20
5mm (Upward
moving amount)
5mm (Downward
moving amount)
20mm (Upward
retreat amount)
20mm (Downward
retreat amount)
Target position
Start position
DEF ARCH 1,5,5,20,20
*If Z is different between the movement starting position and the target position,
it will operate as follows:
Start position
Target position
20mm (Upward
retreat amount)
5mm (Upward
moving amount)
5mm (Downward
moving amount)
20mm (Downward
retreat amount)
CAUTION
