Omron TJ2-MC64 - PROGRAMMING Programming Manual page 145

BASIC commands
/i
Arguments • end_1
The end position for the BASE axis.
• end_2
The end position for the next axis.
• centre_1
The position around which the BASE axis is to move.
• centre_2
The position around which the next axis is to move.
• direction
A software switch that determines whether the arc is interpolated in a
clockwise or counterclockwise direction. Value: 0 or 1.
If the two axes involved in the movement form a right-hand axis, set
direction to 0 to produce positive motion about the third (possibly imagi-
nary) orthogonal axis. If the two axes involved in the movement form a
left-hand axis. set direction to 0 to produce negative motion about the
third (possibly imaginary) orthogonal axis. See the table below.
/i
Direction Right-hand axis
0 Positive
1 Negative
PROGRAMMING MANUAL
Left-hand axis
Negative
Positive
fig. 37
2
DIRECTION = 1
2
1 1
DIRECTION = 0
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