Omron SYSMAC CJ Series, Operation Manual

Page: 207 / 371

All BASIC commands Section 4-2
195
/i
/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
imaginary) orthogonal axis. If the two axes involved in the move-
ment form a left-hand axis. set direction to 0 to produce negative
motion about the third (possibly imaginary) orthogonal axis. See the
table below.
Direction Right-hand axis Left-hand axis
0 Positive Negative
1 Negative Positive
2
1
DIRECTION = 1
2
1
DIRECTION = 0