YASKAWA SGD7C-***AMAA*** Product Manual page 23

 Always check to confirm the paths of axes when any of the following axis movement instruc-
tions are used in programs to ensure that the system operates safely.
• Positioning (MOV)
• Linear Interpolation (MVS)
• Circular Interpolation (MCC or MCW)
• Helical Interpolation (MCC or MCW)
• Set-Time Positioning (MVT)
• Linear Interpolation with Skip Function (SKP)
• Zero Point Return (ZRN)
• External Positioning (EXM)
Example
Axi 2
Example of Basic Path for Positioning (MOV) Instructions
There is a risk of injury or device damage.
 The travel path for the Positioning (MOV) instructions will not necessarily be a straight line.
Check to confirm the paths of the axis when this instruction is used in programs to ensure that
the system operates safely.
There is a risk of injury or device damage.
 The Linear Interpolation (MVS) instruction can be used on both linear axes and rotary axes.
However, if a rotary axis is included, the linear interpolation path will not necessarily be a
straight line. Check to confirm the paths of the axis when this instruction is used in programs to
ensure that the system operates safely.
There is a risk of injury or device damage.
 The linear interpolation for the Helical Interpolation (MCW and MCC) instructions can be used
for both linear axes and rotary axes. However, depending on how the linear axis is taken, the
path of helical interpolation will not be a helix. Check to confirm the paths of the axis when this
instruction is used in programs to ensure that the system operates safely.
There is a risk of injury or device damage.
 Unexpected operation may occur if the following coordinate instructions are specified incor-
rectly: Always confirm that the following instructions are specified correctly before you begin
operation.
• Absolute Mode (ABS)
• Incremental Mode (INC)
• Current Position Set (POS)
Axi 2
Axi 2
Example
(0,0)
(0,0)
Example of Working Coordinate System Created with the Set Current Position (POS) Instruction
There is a risk of injury or device damage.
CAUTION
Axi
Each axi i moved independently
at rapid travel peed.
Axi
Current po ition
Axi 2
(Axi 1)
Current po ition
(Axi 2)
Working coordinate
y tem
Axi 1
Machine coordinate y tem
End po ition
Po itioning operation
Axi 1
Axi 1
Axi 1
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