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6-2
CHAPTER 6 Increasing the robot operating speed
e Arch motion: Making the arch position value larger
In the arch motion w, making the arch position value larger can further shorten
the cycle time. Since the robot arm moves along a larger arc, use caution to avoid
obstacles if they are located near the arm movement path.
The arch position parameter can be set for each axis.
r Arch motion: changing the arch positions in the program
From point P1 to P2 and then to P3:
ARCH (1) = 10000 ... X-axis arch position (pulses)
ARCH (2) = 20000 ... Y-axis arch position (pulses)
ARCH (3) = 20000 ... Z-axis arch position (pulses)
ARCH (4) = 20000 ... R-axis arch position (pulses)
MOVE P, P2, Z=0
ARCH (1) = 2000
ARCH (2) = 2000
ARCH (3) = 2000
ARCH (4) = 2000
MOVE P, P3, Z=100
Since the arch positions can be changed in the program, optimizing the arch po-
sitions can further shorten the cycle time.
Z=0
P1
P2
P3
Z=100
Arch position: large
Arch position: small
Arch position can be set for each axis.
If the same arch position value
(pulses) is used for all axes, you
can write as "ARCH 2000".