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Chapter 3 Robot Motion

3-11

3.2.10 Arch Motion Control [Version 1.9 or later, only for 4-Axis Robot]

The arch motion control facilitates an effective pick-and-place motion.

The above figure shows a pick-and-place motion from source position P1 to

destination position P4. The pick-and-place motion can be usually accomplished by

setting route positions P2 and P3. In the motion, specifying a pass motion in the

vicinity of positions P2 and P3 may save the motion time of the arm endpoint.

Unlike a usual pass motion, the new arch motion control allows the arm endpoint to

move from anywhere on the Z axis towards the next position, enabling more efficient

pick & place motion.

Further, it is easy to program the arch motion control. You need to define only the

move distance of the Z axis from P3 to P4 (L1), the distance from P1 to the arch start

position (L2), and the distance from P4 to the arch end position (L3).

Note that the arch motion does not support the position control so that the path of the

arm endpoint may vary depending upon the actual robot speed. Be careful with

interference with the surrounding facilities when the robot is in arch motion. Under

the arch motion control, all robot operations are performed via point-to-point (PTP)

moves.

PAC library for Arch Motion Control: ArchMove, SetArchParam

P2 P3

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