IAI America ASEL - Manual (Page 238)

Part 2 Programs
Chapter 3 Explanation of Commands
216
Part 2 Programs
1.20 Arch-Motion-Related
z ARCH (Arch motion)
Command, declaration
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command,
declaration
Operand 1 Operand 2
Output
(Output, flag)
Optional Optional ARCH
Position
number
Position
number
PE
Perform arch motion from the current point and move to the specified points.
x Move to the points specified in operand 1, via arch motion.
x Movements in directions other than the arch-motion Z-axis direction will begin after rising from the
current point to the start-point arch trigger. After the Z point specified in operand 2 (as the highest
point) is passed and movements in directions other than the arch-motion Z-axis direction are complete,
the axes will come down to the end-point arch trigger and reach the specified point.
x Palletizing arch triggers must be set using an ATRG command.
ACHZ 2
ATRG 13 11
ARCH 10 12
* When the operation is resumed after a pause, depending on the position where the operation is
resumed the locus may follow the lines (dotted lines) indicated by asterisks in the diagram for the
composite section from ascent to horizontal movement or from horizontal movement to descent. Be
careful not to cause interference.
x The arch-motion Z-axis coordinate of the end point will become the arch-motion Z-axis component of
the point data specified in operand 1, if any, plus the arch-motion Z-axis offset. If there is no arch-
motion Z component, the arch-motion Z-axis coordinate of the end point will become the arch-motion
Z-axis coordinate of the start point plus the arch-motion Z-axis offset. (Normally the offset is added to
all arch-motion positions, such as the arch triggers and Z point.)
x An error will generate if the start-point arch trigger is set below the start point or the end-point arch
trigger is set below the end point. (Note: Up/down has nothing to do with +/– on the coordinate
system.)
x The arch-motion Z-axis up direction refers to the direction toward the Z point from the start point (the
down direction refers to the opposite direction), and has nothing to do with the size of coordinate value.
Therefore, be sure to confirm the actual operating direction when using this command.
Highest 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