Yaskawa MP900 Series Motion Programming Manual - Manual (Page 66)

2.1 Axis Move Commands
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D A circle can be designated by the radius value R of the circle, instead of by the center point
position. The circular interpolation in this case will be as shown in Figure 2.9.
MCW [axis 1] − [axis 2] − R−;
If R > 0: Circular interpolation with an arc angle of 180_ or less
If R < 0: Circular interpolation with an arc angle of 180_ or more
Note If R = 0: An alarm will be generated.
Center
point
Center point
180° min.
Current position
End position
R
(Negative)
180° max.
R
(Positive)
Figure 2.9 CLOCKWISE CIRCULAR INTERPOLATION (MCC)
D Before designating a CLOCKWISE/COUNTERCLOCKWISE CIRCULAR INTER-
POLATION command, specify the plane in COORDINATE PLANE SETTING (PLN). If
there is a previous designation, the plane that was last designated will remain in effect. If the
plane is not specified at least once, an alarm will be generated.
D The interpolation feed speed is also referred to as the F designation. It is specified in the speed
designation (F) or in the INTERPOLATION FEED SPEED RATIO SETTING command
(IFP). The last F designation specified in the previous block remains in effect. An interpola-
tion command for which no F designation has been specified will generate an alarm.
D The tangential speed of the designated circle will be equivalent to the F designation. If an F
designation exceeds the limit set in MAXIMUM INTERPOLATION FEED SPEED (FMX),
an alarm will be generated.
The following illustration shows the maximum interpolation feed speed.
Current position
End position
+X
Vy [mm/min]
+Y
Vx [mm/min]
F [mm/min]
Figure 2.10 MAXIMUM INTERPOLATION FEED SPEED (FMX)
D In actual programming operations, an override of 0% to 327.67% can be applied to the F des-
ignation. The override will take effect immediately.
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