Yaskawa MP900 Series Motion Programming Manual - Manual (Page 62)

2.1 Axis Move Commands
2 -9
2.1.3 CLOCKWISE/COUNTERCLOCKWISE CIRCULAR
INTERPOLATION (MCW, MCC)
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Overview
The CLOCKWISE/COUNTERCLOCKWISE CIRCULAR INTERPOLATION (MCW, MCC)
command is used to move two axes simultaneously from the current position to the end position
on the designated plane at interpolation feed speed (F) on the circle determined by the center
point position (U_V_) or the radius value (R).
J Description
The CLOCKWISE/COUNTERCLOCKWISE CIRCULAR INTERPOLATION commands are
designated as follows:
MCW [axis1] − [axis2] − U−V− T− F−;
A B C D
A: End position
B: Center point position
C: Number of turns
D: Interpolation feed speed
or
MCC [axis1] − [axis2] − R− F−;
A B C
A: End point
B: Radius value
C: Interpolation feed speed
Note With center point position designation, multiple turns can be specified. The number of turns can also
be omitted.
The direction of rotation for the CLOCKWISE/COUNTERCLOCKWISE CIRCULAR IN-
TERPOLATION commands are as follows:
MCW: Clockwise (CW)
MCC: Counterclockwise (CCW)
1. Before designating a CLOCKWISE/COUNTERCLOCKWISE CIRCULAR INTERPOLATION com-
mand, be sure to designate the circular interpolation plane in COORDINATE PLANE SETTING (PLN).
Be sure to designate the circular direction of rotation as MCW or MCC in the CLOCKWISE/COUNTER-
CLOCKWISE CIRCULAR INTERPOLATION command. Designate axes 1 and 2 for the end position
and center point position in the same order as the axes are specified in the PLN command.
2. Designate the axes for the end position and center point position in the same order as the axes are specified
in the PLN command.
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IMPORTANT