Emotiontek MCU 2 Axis - Page 43

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Chapter 2. MC Programming
29) CW, CCW
Input type
CW <P variable 1> <P variable 2> , CCW <P variable 1> <P variable 2>
Terminology <P variable>: Set the variable for a position from the Position Table.(P0 ~ P99)
Related
variable
P variable, L variable
Related
command
A,D,VEL
Parameter Maximum velocity(P18), acceleration or deceleration time(P23), deceleration time(P65), I, J arc
commanding method(P61)
Explanation Move by arc interpolation from the current position to the commanded coordinate position at the
commanded velocity and Acceleration or deceleration time.
If the“
basic parameter P61 I, J arc commanding method” is disabled, then the X-axis value of <P
variable 2> is regarded as its radius.
However, if the “
basic parameter P61 I, J arc commanding method” is enabled, then it is
regarded as an I, J circle center commanding method, not a radius. In this case, the X-axis of the
second P variable corresponds to I, and the Y-axis corresponds to J.
I, J are vector components seen from the arc start point to the center, and are always commanded as
increments.
Example of
use
CW P0 P1
CCW P0 P1
CW PL0 PL1
CCW PL0 PL1
Example VEL 0
MOV P0
VEL 1
CW P1 P2
 P0: Arc interpolation start point(0.000, 0.000)
 P1: Arc interpolation end point, P2: Arc center command
*If
basic parameter P61 is disabled- P1:20.000, 20.000 P2:20.000, ?????
*If
basic parameter P61 is enabled- P1:20.000, 20.000 P2:20.000, 0.000
Fig.2.25 Absolute position arc interpolation function
20.000
20.000
R= 20.000
+X
+Y