Yaskawa MP900 Series Motion Programming Manual - Manual (Page 69)

Motion Commands
2.1.4 CLOCKWISE/COUNTERCLOCKWISE HELICAL INTERPOLATION (MCW, MCC)
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J Description
The CLOCKWISE/COUNTERCLOCKWISE HELICAL INTERPOLATION commands are
designated as follows:
MCW [axis1] − [axis2] − U−V− [axis3] − T− F;
A B C D E
A: End position
B: Center point position
C: Linear interpolation end position
D: Number of turns
E: Interpolation feed speed
or
MCC [axis1] − [axis2] − R− [axis3] − F ;
A B C D
A: End point
B: Radius
C: Linear interpolation end position
D: Interpolation feed speed
Linear interpolation
portion
End position
Helical interpolation
Center point position
Current position
Circular interpolation
portion
+X
+Y
+Z
Figure 2.12 HELICAL INTERPOLATION (MCW, MCC)
D Any axis that has not been specified in the plane designation can be designated as the linear
interpolation axis. The axis need not necessarily be at right angles to the interpolation plane.
D Before specifying a CLOCKWISE/COUNTERCLOCKWISE HELICAL INTERPOLA-
TION command, specify the plane in COORDINATE PLANE SETTING (PLN).
D Designate the axes for the end position and center point position in the same order as the axes
are specified in the PLN command.
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).
D The last F designation specified in the previous block remains in effect. An interpolation
command for which no F designation has been specified will generate an alarm.
D The feed speed (F) is the tangential speed of the circle on the circular plane. Therefore, the
linear axis speed (F’) will be F’ = F × (Length of linear axis)/(Length of arc).
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