Yaskawa MP900 Series Motion Programming Manual - Manual (Page 67)

Motion Commands
2.1.3 CLOCKWISE/COUNTERCLOCKWISE CIRCULAR INTERPOLATION (MCW, MCC)
2 -14
When creating a motion program that uses interpolation commands, designate MAXIMUM INTERPOLA-
TION FEED SPEED (FMX) at the beginning of the program. If this is not designated, an alarm will be gener-
ated.
D To execute the next block (whether or not it is a move command block) after the in-position
check, designate the PFN command in the same block or the next block.
D The following types of acceleration/deceleration can be set for automatic acceleration/decel-
eration control using parameter settings and the IAC and IDC commands:
• Single-step linear acceleration/deceleration
• Asymmetric acceleration/deceleration
• S-curve acceleration/deceleration
D With the center point position designation, a completely closed circle can be designated in
one block by setting the same point for the starting point and the end point. Multiple circles
can also be designated in one block using the number of turns designation (T−). A complete
circle and multiple turns cannot be designated with the radius value R designation.
The methods of designating speed commands, accelerations/decelerations, overrides, and so on, are all the
same as for linear interpolation. For details, see 2.1.2 LINEAR INTERPOLATION (MVS).
J Programming Examples
The following illustration shows a programming example for a center point position designation
in ABS mode.
ABS;
FMX T30000000;
MW00001 = 10000; (*)
MOV [X] 0 [Y] 0;
PLN [X] [Y] ;
MCW [X] 0 [Y] 0 U1000 V0;
(0, 0) Current position
and
end position
Center point
(1000, 0)
Circular interpolation (MCW)
+X
+Y
Figure 2.11 Programming Example for Center Point Position Designation
2
IMPORTANT
INFO
A EXAMPLE "