Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 166)

8.2 Axis Move Commands
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8
Command Reference
c) Interpolation feed speed
For circular interpolation (MCW, MCC), the specified interpolation feed speed is treated as the speed of a
tangential direction.
The reference range is between 1 and the maximum interpolation feed speed (FMX) [reference unit/min].
B1
A1
MCC command block: MCC[A1]- [B1]- F200;
F = 200 = Vx + Vy (reference units/min)
2 2
Vx (reference units/min)
End position
Program current position
Vy (reference units/min)
200 reference units/min