Yaskawa MP900 Series Motion Programming Manual - Manual (Page 63)

Motion Commands
2.1.3 CLOCKWISE/COUNTERCLOCKWISE CIRCULAR INTERPOLATION (MCW, MCC)
2 -10
The following illustration shows the method of designating the CLOCKWISE/COUNTER-
CLOCKWISE CIRCULAR INTERPOLATION commands.
+axis 2
+axis 1
R
End position
Current position
Center point
position
Interpolation feed speed
(Tangential speed)
MCW
Figure 2.6 Programming Method for CLOCKWISE/COUNTERCLOCKWISE CIRCU-
LAR INTERPOLATION (MCW, MCC)
D The end position and center point positions are designated according to the ABS or INC mode
that was last designated.
J
Programming Examples
Programming Example in ABS Mode
The following illustration shows a programming example for the MCC command in ABS mode.
ABS;
FMX T30000000;
MW 00001 = 10000; (*)
PLN [X] [Y] ;
MCC [X] 1500 [Y] 4000 U2500 V1000 F150;
End position
Circular interpolation (MCC)
Current position
Center point
4000
2000
1000
1500 2500 5500 (0, 0)
+X
+Y
Figure 2.7 Programming Example in ABS Mode
2
A EXAMPLE "