IAI PSEL, Руководство по эксплуатации

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3. Program
156
3.6.4 How to Use Arch Motion
Move from the current position to end point via arch motion.
ACHZ 3 -------- Declare arch motion Z-axis
ATRG 13 (start-point arch trigger position) 11 (end-point arch trigger position) -------- Set arch trigger
ARCH 10 (position of end point) 12 (position of top point of arch motion) ------ Arch motion
x
Use an ACHZ command to specify the arch motion Z-axis. In the case of a SCARA robot,
you only need to specify the Z-axis (axis 3) to perform arch motion. (ACHZ 3)
x
Use an ATRG command to specify the arch motion trigger.
After rising up to the start arch trigger from the current position by ARCH Command, a
movement in the direction other than Z-axis starts with the arch motion.The actuator passes
the top point being the Z point specified in operand 2 and completes the movement in a
direction other than that of arch motion Z-axis, after which it passes near the end-point arch
trigger and reaches the positions of the specified point.
When operation is resumed after a pause, the transition from rising movement to horizontal
movement and transition from horizontal movement to rising movement may follow the paths
indicated by * (dotted lines) in the figure. Exercise caution to prevent contact.
Example of program
Note
Top point of arch motion
Position No. 12
Start-point arch trigger
Position No. 13
End-point arch trigger
Position No. 11
*
* *
*
Start point End point
Position No. 10