Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 162)

8.2 Axis Move Commands
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Command Reference
8.2.3 Clockwise/Counterclockwise Circular Interpolation with Center Position Desig-
nation (MCW, MCC)
(1) Overview
The Clockwise/Counterclockwise Circular Interpolation with Center Position Designation command (MCW,
MCC) moves two axes simultaneously from the program current position to the end position on the designated
plane at the interpolation feed speed on the circle determined by the center position.
• MCW: Circular Interpolation command for Clockwise (CW)
• MCC: Circular Interpolation command for Counterclockwise (CCW)
• Before designating a Clockwise/Counterclockwise Circular Interpolation command, be sure to designate
the circular interpolation plane in Coordinate Plane Setting (PLN).
If the PLN command is not coded, a motion program alarm will occur at execution of the MCW or MCC
command.
• Designate the axes for the end position and center position in the same order as the axes are specified in the
PLN command.
• Be sure to code the FMX command at the beginning of the program to specify the maximum feed speed for
interpolation.
Otherwise, a motion program alarm will occur at execution of the MCW or MCC command.
• When the acceleration/deceleration time is not specified, the default acceleration/deceleration time of 0 ms
will be applied.
For axis movement with the MCW or MCC command, an in-position check is not automatically executed. Use the PFN
command to execute an in-position check if required.
Motion Programs Sequence Programs
Applicable Not applicable
Number of turns
Logical axis 2
Logical axis 1
Interpolation feed speed
(Tangential speed)
Center point
position
End position
MCW
Program current position
IMPORTANT
INFO