Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 169)

8 Command Reference
8.2.4 Clockwise/Counterclockwise Circular Interpolation with Radius Designation (MCW, MCC)
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(2) Format
(3) Setting Items for MCW and MCC Commands
Motion Image
a) Radius
Specify a numerical value or register following to character R in the MCW or MCC command block.
The circular interpolation path will differ depending on the radius reference value as follows.
With the MCW command block MCW [A1] − [B1] − R −;
If R > 0: Circular interpolation with an arc angle of 180 ° or less
If R < 0: Circular interpolation with an arc angle of more than 180 °
If R = 0: A motion program alarm will occur.
With the radius designating circular interpolation, the number of turns cannot be specified.
Notes: 1. The interpolation feed speed can be omitted.
Item Unit Usable Data
End position Reference unit
Radius Reference unit
Interpolation feed speed Reference units/min
Directly designated value
Double integer type register (Indirect designation)
MCW [Logical axis name 1] End position [Logical axis name 2] End position R Radius F Interpolation speed ;
2. With radius designating circular interpolation, the number of turns cannot be specified.
Logical axis 2
Logical axis 1
a) Radius
End position
MCW
More than 180°
180° max.
Center point
when R is a
positive value
Center
point when
R is a negative
value
R
Program current position
End position
R
INFO