Mitsubishi MELFA CR1D Instruction Manual page 195

Def Arch (Define arch)
[Function]
This instruction defines an arch shape for the arch motion movement corresponding to the Mva instruction.
[Format].
Def[]Arch[]<Arch number>, [<upward movement increment>][<downward movement increment >],
[Terminology]
<Arch number>
<Upward movement increment>
<Downward movement increment >
<Upward evasion increment>
<Downward evasion increment>
<Interpolation type>
<Interpolation type 1>
<Interpolation type 2>
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.
Parameter name Arch number
ARCH1S
ARCH2S
ARCH3S
ARCH4S
Vertical multi-joint robot(RV-6SDL, etc.)
Parameter Arch Interpolation
name number
ARCH1T 1
ARCH2T 2
ARCH3T 3
ARCH4T 4
[Reference Program]
1 Def Arch 1,5,5,20,20
2 Mva P1,1
3 Mva P2,2
[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
types 1 and 2)
[<Upward evasion increment>], [<downward evasion increment>],
[<interpolation type>], [<interpolation type 1>, <interpolation type 2> ]
Arch motion movement pattern number. Specify a number from 1 to 4 using a con-
stant or a variable.
Refer to figure at right. It is pos-
sible to specify either a con-
stant or a variable.
Interpolation type for upward
and downward movements.
Linear/joint = 1/0
Detour/short cut = 1/0,
3-axis XYZ/Equivalent rotation = 1/0
Upward movement
increment (mm)
1 0.0
2 10.0
3 20.0
4 30.0
Horizontal multi-joint robot(RH-12SDH **, etc.)
Interpolation Interpolation
type type 1 type 2
1 0
1 0
1 0
1 0
'Performs the arch motion movement defined in the shape definition in step 10.
'The robot moves according to the default values specified by the parameters.
(Accelerate), Ovrd (Override),
Upnward
evasion
increment
×
Downward movement
increment (mm)
0.0
10.0
20.0
30.0
Parameter Arch
name number
0 ARCH1T 1
0 ARCH2T 2
0 ARCH3T 3
0 ARCH4T 4
Mvs (Move S)(Used as a reference for interpolation
Detailed explanation of command words 4-182
4MELFA-BASIC IV
Upnward Downward
movement movement
increment increment
Upward evasion Downward evasion
increment (mm) increment (mm)
30.0
30.0
30.0
30.0
Interpolation Interpolation
type type 1
0 0
0 0
0 0
0 0
Downward
evasion
increment
●
30.0
30.0
30.0
30.0
Interpolation
type 2
0
0
0
0