Yaskawa MotionWorks IEC Toolboxes - Manual (Page 269)

Gantry Toolbox: Function Blocks
MotionWorks IEC61131-3 Toolboxes: 2013-09-13 256
The two modes of data entry are shown in detail below. Mode 0: 2 coordinates + center coordinate, Mode 1: 2
coordinates + radius. If the user plans to use Mode 1, the sign of the radius is important. this is illustrated in
the figure below. The two arcs (red and blue) have the same start and end coordinates and they have the same
radii. A negative radius would give rise to an obtuse arc (shown as red) and the start angle and traversed angle
are 270 and -270 respectively. If a positive radius is specified, an acute arc (shown in blue) is generated. The
start angle and traversed angle for the acute arc are 180 and -90 respectively.
Application example