Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 171)

8 Command Reference
8.2.4 Clockwise/Counterclockwise Circular Interpolation with Radius Designation (MCW, MCC)
8-64
Turning
Direction
Arc Angle Programming Example
Counter-
clockwise
(MCC)
180 ° or less
(Radius reference
value > 0)
ABS;
FMX T30000000;
PLN [A1][B1];
MCC [A1]1000 [B1]1000 R1000 F2000; “MCC (Counterclockwise)”
END;
Fig. 8.35 Radius Designating Counterclockwise Circular Interpolation
Command (MCC)
180 ° or more
(Radius reference
value < 0)
ABS;
FMX T30000000;
PLN [A1][B1];
MCC [A1]1000 [B1]1000 R-1000 F2000; “MCC (Counterclockwise)”
END;
Fig. 8.36 Radius Designating Counterclockwise Circular Interpolation
Command (MCC)
Counterclockwise
circular interpolation
(MCC)
Radius = 1000
End position
(1000,1000)
Arc angle
180° or less
A1
B1
Center point
(0,1000)
Program
current
position
(0,0)
A1
Counterclockwise
circular interpolation
(MCC)
B1
Radius = 1000
End position
(1000,1000)
Arc angle
180°or more
Center point
(1000,0)
Program
current
position
(0,0)