YASKAWA SVC User Manual page 334

Instruc-
Instruc-
tion Name
tion
Type
Clockwise
MCW Helical Inter-
polation
Axis
Move-
Counterclock-
ment
MCC wise Helical
Interpolation
Zero Point
ZRN
Return
Position after
DEN
Distribution
SKP Skip Function
Format
MCW [Logical_axis_name_1]
End_position
[Logical_axis_name_2]
End_position
Ucenter_point_position
Vcenter_point_position
[Logical_axis_name_3]
End_position_for_linear_in-
terpolation
Tnumber_of_turns Finterpo-
lation_feed_speed;
MCW [Logical_axis_name_1]
End_position
[Logical_axis_name_2]
End_position
Rradius
[Logical_axis_name_3]
End_position_for_linear_in-
terpolation
Finterpolation_feed_speed;
MCC [Logical_axis_name_1]
End_position
[Logical_axis_name_2]
End_position
Ucenter_point_position
Vcenter_point_position
[Logical_axis_name_3]
End_position_for_linear_in-
terpolation
Tnumber_of_turns Finterpo-
lation_feed_speed;
MCC [Logical_axis_name_1]
End_position
[Logical_axis_name_2]
End_position
Rradius
[Logical_axis_name_3]
End_position_for_linear_in-
terpolation
Finterpolation_feed_speed;
ZRN [Logical_axis_name_1]0
[Logical_axis_name_2]0
[Logical_axis_name_3]0 ...;
MOV [Logical_axis_name_1] Refer-
ence_position
[Logical_axis_name_2] Refer-
ence_position
[Logical_axis_name_3] Refer-
ence_position ... DEN;
SKP [Logical_axis_name_1] Refer-
ence_position
[Logical_axis_name_2] Refer-
ence_position
[Logical_axis_name_3] Refer-
ence_position ...
Finterpolation_feed_speed
SSskip_input_signal_selection;
4.5 Motion Language Instructions
Continued from previous page.
Description
Moves three axes simultane-
ously with a combination of cir-
cular interpolation and linear
interpolation outside the circu-
lar interpolation plane. Speed F
is the circular interpolation tan-
gential speed.
The number of turns can be
specified after "T" if the center
point coordinate is specified.
("T" can be omitted.)
Returns each axis to its origin.
Performs positioning to the
next block after distribution is
completed without waiting for
a Positioning Completed sig-
nal.
If the SKIP signal turns ON
during a linear interpolation
operation, the remaining move-
ment is skipped and operation
proceeds to the next block.
Continued on next page.
4
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