Mitsubishi MELFA CR1D - Page 195

4MELFA-BASIC IV
Detailed explanation of command words 4-182
Def Arch (Define arch)
[Function]
This instruction defines an arch shape for the arch motion movement corresponding to the Mva instruction.
[Format].
[Terminology]
<Arch number> Arch motion movement pattern number. Specify a number from 1 to 4 using a con-
stant or a variable.
<Upward movement increment>
<Downward movement increment >
Refer to figure at right. It is pos-
sible to specify either a con-
stant or a variable.
<Upward evasion increment>
<Downward evasion increment>
<Interpolation type> Interpolation type for upward
and downward movements.
Linear/joint = 1/0
<Interpolation type 1> Detour/short cut = 1/0,
<Interpolation type 2> 3-axis XYZ/Equivalent rotation = 1/0
If any of the arguments besides the arch number is omitted, the default value is employed.
The default values are set by the following parameters. Check the corresponding parameters to see the values;
it is also possible to modify the values.
Vertical multi-joint robot(RV-6SDL, etc.)
Horizontal multi-joint robot(RH-12SDH **, etc.)
[Reference Program]
1 Def Arch 1,5,5,20,20
2 Mva P1,1 'Performs the arch motion movement defined in the shape definition in step 10.
3 Mva P2,2 'The robot moves according to the default values specified by the parameters.
[Explanation]
(1) If the Mva instruction is executed without the Def Arch instruction, the robot moves according to the arch
shape specified by the parameters.
(2) Used to change the increments in a program, etc.
[Related instructions]
Mva (Move Arch), Accel (Accelerate), Ovrd (Override), Mvs (Move S)(Used as a reference for interpolation
types 1 and 2)
Def[]Arch[]<Arch number>, [<upward movement increment>][<downward movement increment >],
[<Upward evasion increment>], [<downward evasion increment>],
[<interpolation type>], [<interpolation type 1>, <interpolation type 2> ]
Parameter name Arch number
Upward movement
increment (mm)
Downward movement
increment (mm)
Upward evasion
increment (mm)
Downward evasion
increment (mm)
ARCH1S 1 0.0 0.0 30.0 30.0
ARCH2S 2 10.0 10.0 30.0 30.0
ARCH3S 3 20.0 20.0 30.0 30.0
ARCH4S 4 30.0 30.0 30.0 30.0
Parameter
name
Arch
number
Interpolation
type
Interpolation
type 1
Interpolation
type 2
Parameter
name
Arch
number
Interpolation
type
Interpolation
type 1
Interpolation
type 2
ARCH1T 1 1 0 0 ARCH1T 1 0 0 0
ARCH2T 2 1 0 0 ARCH2T 2 0 0 0
ARCH3T 3 1 0 0 ARCH3T 3 0 0 0
ARCH4T 4 1 0 0 ARCH4T 4 0 0 0
×
●
Downward
movement
increment
Downward
evasion
increment
Upnward
evasion
increment
Upnward
movement
increment