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ARCHP1 / ARCHP2 8-21
4
ARCHP1 / ARCHP2
Specifies/acquires the arch position parameter
Format
1. ARCHP1 [robot number] expression
2. ARCHP1 [robot number] (axis number)=expression
Format
1. ARCHP2 [robot number] expression
2. ARCHP2 [robot number] (axis number)=expression
Values
robot number
.........................1 to 4 (If not input, robot 1 is specified.)
axis number
...........................1 to 6
expression
..............................0 to 99999999 (Unit: pulses)
Explanation
ARCHP1 corresponds to the arch position 1 parameter; ARCHP2 corresponds to the
arch position 2 parameter, respectively. Changes the parameter’s arch position to the
value indicated in the <
expression>
.
Format 1 changes all axes specified by <
robot number>
.
Format 2 changes the only axis specified by <
axis number
> to the value indicated in
the <
expression>
.
Functions
Format
ARCHP1 [robot number] (axis number)
Format
ARCHP2 [robot number] (axis number)
Values
robot number
.........................1 to 4 (If not input, robot 1 is specified.)
axis number
...........................1 to 6
Explanation
ARCHP1 corresponds to the arch position 1 parameter; ARCHP2 corresponds to the
arch position 2 parameter, respectively.
Acquires the arch position parameter value of the axis specified at <
axis number>.
Summary of Contents for SCARA YRCX Series
Page 1: ... 7 6HULHV DW 1R 1 5 5RERW RQWUROOHU 352 5 00 1 0 18 6 5 5RERWV 5 6HULHV ...
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Page 27: ...Chapter 2 Constants 1 1 Outline 2 1 2 2 Numeric constants 2 1 3 3 Character constants 2 2 ...
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Page 61: ...Chapter 5 Multiple Robot Control 1 1 Overview 5 1 2 2 Command list with a robot setting 5 2 ...
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Page 409: ...Chapter 11 User program examples 1 1 Basic operation 11 1 2 2 Application 11 8 ...
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Page 489: ...Chapter 13 Appendix 1 1 Reserved word list 13 1 2 2 Changes from conventional models 13 3 ...
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