Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 170)

8.2 Axis Move Commands
8-63
8
Command Reference
(4) Programming Examples
Programming examples of the circular interpolation command (MCW, MCC) in ABS mode are shown below.
The turning direction is specified by MCW (clockwise) and MCC (counterclockwise), and the arc angle is speci-
fied by the radius reference value.
Turning
Direction
Arc Angle Programming Example
Clockwise
(MCW)
180 ° or less
(Radius reference
value > 0)
ABS;
FMX T30000000;
PLN [A1][B1];
MCW [A1]1000 [B1]1000 R1000 F2000; “MCW (Clockwise)”
END;
Fig. 8.33 Radius Designating Clockwise Circular
Interpolation Command (MCW)
180 ° or more
(Radius reference
value < 0)
ABS;
FMX T30000000;
PLN [A1][B1];
MCW [A1]1000 [B1]1000 R-1000 F2000; “MCW (Clockwise)”
END;
Fig. 8.34 Radius Designating Clockwise Circular
Interpolation Command (MCW)
EXAMPLE
A1
Clockwise circular interpolation (MCW)
B1
Radius = 1000
End position
Program current
position (0,0)
(1000,1000)
Arc angle
180° or less
Center point
(1000,0)
Clockwise circular interpolation (MCW)
Radius = 1000
End position
(1000,1000)
Arc angle
180q or more
A1
B1
Center point
(0,1000)
Program current position
(0,0)