Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 165)

8 Command Reference
8.2.3 Clockwise/Counterclockwise Circular Interpolation with Center Position Designation (MCW, MCC)
8-58
Special care must be taken with regard to the start point radius, and end point radius, because the circular inter-
polation path will become as shown below if the start point radius is not equal to the end point radius.
Fig. 8.30 Circular Interpolation Path When Start Point Radius ≠ End Point Radius
b) Number of turns
Specify a numerical value or register following to character T in the MCW or MCC command block.
Specifying the number of turns will implement multiple circular movements. Specifying a negative value for
the number of turns will cause a motion program alarm. The number of circular movements determined by
the specified number of turns will differ depending on the relationship between the program current position
and end position as shown below.
• When the number of turns is set to 2
IMPORTANT
Start point
radius
End point ratius
Center
position
Program
current position
End position
EXAMPLE
B1
A1
Two circles + 1/4 circle
Program
current position
End position
When Program current position ≠ End position
B1
A1
Three circles
Program current position
and
End position
Program current position = End position