Cr (circle), Motion – Yaskawa SMC–4000 User Manual
Page 93
83
SMC–4000 User Manual
CR (Circle)
[Motion]
DESCRIPTION:
The CR command specifies a 2-dimensional arc segment of radius, r, starting at angle,
θ, and traversing
over angle
∆θ. A positive ∆θ denotes counter clockwise traverse, negative ∆θ denotes clockwise. The
command must be used to denote the end of the motion sequence after all CR and
segments are specified. The
command is used to start the motion
sequence. All parameters, r,
θ, ∆θ, must be specified. Radius units are in quadrature counts. θ and ∆θ have
units of degrees. The parameter n is optional and describes the vector speed that is attached to the motion
segment.
ARGUMENTS: CR r,
θ,∆θ
where
r is an unsigned real number in the range 10 to 6000000 decimal (radius)
θ a signed number in the range 0 to +/-32000 decimal (starting angle in degrees)
∆θ is a signed real number in the range 0.0001 to +/-32000 decimal (angle in degrees)
n specifies a vector speed to be taken into effect at the execution of the vector segment, n is an unsigned
even integer between 0 and 12,000,000 for servo motor operation and between 0 and 3,000,000 for stepper
motors.
o specifies a vector speed to be achieved at the end of the vector segment, o is an unsigned even integer
between 0 and 8,000,000.
Note: The product r *
∆θ must be limited to +/-4.5 * 10
8
USAGE:
RELATED COMMANDS:
EXAMPLES:
While Moving
Yes
Default Value
---
In a Program
Yes
Default Format
---
Command Line
Yes
Virtual Axis
NO
VMAB
Specify vector motion in the A and B plane
VS 10000
Specify vector speed
CR 1000,0,360
Generate circle with radius of 1000 counts,
start at 0 degrees and complete one circle in
counterclockwise direction.
CR 1000,0,360<40000
Generate circle with radius of 1000 counts,
start at 0 degrees and complete
VE
End Sequence
BGS
Start motion