Acha - Yamaha DRCX User Manual

8-4 Robot Language Description
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8-4-30 ACHA

Function:
Format:
Example:
Explanation:
Others:
Y
Defines an arch motion by setting a position (absolute position with
respect to the origin).
ACHA <axis>, <position>
ACHA 2, 10
Defines an arch motion in which the robot temporarily moves to a point
Y=10.00 before reaching the target position.
This command defines an axis and a position 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) Position
This is the position (absolute position with respect to the origin) the
arch motion axis moves to. 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 ACHA 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 ACHA with conditional branch statements, etc.
X
Y=10.00
Example: Motion for the following program
ACHA 2,10
MOVA 1,100
P1