Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 167)

8 Command Reference
8.2.3 Clockwise/Counterclockwise Circular Interpolation with Center Position Designation (MCW, MCC)
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(4) Programming Examples
A programming example of circular interpolation (MCW, MCC) in ABS mode is shown below.
The MCW commands turns axes clockwise, while MCC commands counterclockwise.
Turning
Direction
Programming Example
Clockwise
(MCW)
ABS;
FMX T30000000;
PLN [A1][B1];
MCW [A1]0 [B1]0 U1000 V0 F2000; “MCW (clockwise)”
END;
Fig. 8.31 Center Position Designated Clockwise
Circular Interpolation (MCW)
Counter-
clockwise
(MCC)
ABS;
FMX T30000000;
PLN [A1][B1];
MCC [A1]0 [B1]0 U1000 V0 F2000; “MCC (Counterclockwise)”
END;
Fig. 8.32 Center Position Designated Counterclockwise
Circular Interpolation (MCC)
EXAMPLE
A1
Clockwise circular
interporation (MCW)
End position
Center position
(1000,0)
(0,0)
B1
Program current position
A1
Counterclockwise
circular interporation
(MCC)
Center
position
(1000,0)
(0,0)
B1
Program current position
End position