Achi - Yamaha DRCX User Manual

8-4-31 ACHI

Function:
Format:
Example:
Explanation:
Others:
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Defines an arch motion by setting an incremental distance (relative
position with respect to the current position).
ACHI <axis>, <distance>
ACHI 2, –100
Defines an arch motion in which the robot temporarily moves a distance
equal to Y=-100.00 before reaching the target position.
This command defines an axis and a distance to move the robot in an
arch motion. This command is used with a MOVA, MOVI or MOVF
statement.
(1) Axis
Specify the axis that performs an arch motion. "1" for the X-axis and
"2" for the Y-axis.
(2) Distance
This is the distance (relative distance with respect to the current
position) the arch motion axis moves. The setting range is from
-9999 to 9999 mm.
• The arch's arc size can be set with the arch position parameters (PRM57,
PRM97).
• If an ACHI statement is executed independently, the subsequent
movement commands (MOVA, MOVI or MOVM statements) are
executed with an arch motion until the program is reset. Be careful
when combining ACHI with conditional branch statements, etc.
X
Y
P0
8-4 Robot Language Description
Y=P0 (Y coordinate) + (-100.00)
Example: Motion for the following program
(The current position is P0.)
ACHI 2,-100
MOVA 1,100
P1
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