Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 163)

8 Command Reference
8.2.3 Clockwise/Counterclockwise Circular Interpolation with Center Position Designation (MCW, MCC)
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(2) Format
(3) Setting Items for MCW and MCC Commands
Motion Image
a) End position and Center point position
End position: Specify a numerical value or register following to a logical axis name.
Center position: Specify a numerical value or register following to character U and V in the MCW or MCC command
block.
The actual end position and center position for the reference positions will differ, depending on the move-
ment mode: ABS mode or INC mode.
Item Unit Usable Data
End position Reference unit
Center point position Reference unit
Number of turns Number of times of turn
Interpolation feed speed Reference units/min
࡮ Directly designated value
࡮ Double integer register (Indirect designation)
Note: The number of turns and interpolation feed speed can be omitted.
MCW [Logical axis name 1] End position [Logical axis name 2] End position U Center position V Center position
T Number of turns F Interpolation feed speed ;
Logical axis 2
Logical axis 1
b) Number of turns
c) Interpolation feed speed
(Tangential speed)
a) Center
position
a) End position
MCW