Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 164)

8.2 Axis Move Commands
8-57
8
Command Reference
• In ABS Mode
The center position and end position are treated as absolute positions.
• In INC Mode
The center position and end position are treated as relative positions from the program current position.
B1
A1
End
position
Program
current position
1000
MCC [A1]1500ޓ [B1]4000 U2500 V1000 F50000;
Center position
End position
PLN[A1][B1];
ABS;
1500 2500 5500
2000
4000
Counterclockwise
circular interpolation
(MCC)
Center
position
FMX T30000000;
B1
A1
End
position
Program
current
position
1000
MCC [A1]-4000 [B1]2000 U-3000 V-1000 F50000;
Center position
(relative position)
End position
(relative position)
PLN[A1][B1];
INC;
1500 2500 5500
2000
4000
Counterclockwise
circular interpolation
(MCC)
Center
position
-4000
-3000
2000
-1000
FMX T30000000;