4MELFA-BASIC IV
Detailed explanation of command words
4-216
[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 182, " 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
182, " Def Arch (Define arch)"
.
(4) This instruction 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 369, "5.10 Automatic return setting
)
Fig.4-10:Example of arch interpolation motion path (seen from the side)
[Related instructions]
,
,
DEF ARCH 1,5,5,20,20
5m m (Upward
m oving am ount)
5m m (Downward
m oving am ount)
20m m (Upward
retreat am ount)
20m m (Downward
retreat am ount)
Target position
Start position
DEF ARCH 1,5,5,20,20
*If Z is different between the m ovem ent starting position and the target position,
it will operate as follows:
Start position
Target position
20m m (Upward
retreat am ount)
5m m (Upward
m oving am ount)
5m m (Downward
m oving am ount)
20m m (Downward
retreat am ount)
