Defines the start position of a horizontal movement (Arch start position) in upward movement of the arm endpoint and the end position in downward movement (Arch end position).

SetArchParam (<Arch start position>, <Arch end position>)

This library configures an arch form.

<Arch start position> is the distance (mm) from the source position in the direction of the Z axis; <Arch end position> is that from the destination position.

The entry range is from 0 to "Maximum reach position (mm) in the Z-axis direction" in increment of 1 mm.

The defaults of <Arch start position> and <Arch end position> are 0 mm when the robot controller is turned on.

Values defined in this library will be effective until the robot controller is turned off.

Requires file <pacman.h>

ArchMove

Specifying any invalid value will cause no syntax error, but it will result in a run-time error at the execution of the ArchMove.