RAPID reference manual - Technology

InstructionMoveCRobotWare-OSMoveC - Moves the robot circularlyMoveC is used to move the tool centre point (TCP) circularly to a given destination.During the movement, the orientation normally remains unchanged relative to the circle.This instruction can only be used in the Main task or, if in a MultiMove System, inMotion tasks.ExamplesMoveC p1, p2, v500, z30, tool2;The TCP of the tool, tool2, is moved circularly to the position p2, with speed datav500 and zone data z30. The circle is defined from the start position, the circlepoint p1 and the destination point p2.MoveC *, *, v500 \T:=5, fine, grip3;The TCP of the tool, grip3, is moved circularly to a fine point stored in theinstruction (marked by the second *). The circle point is also stored in theinstruction (marked by the first *). The complete movement takes 5 seconds.MoveL p1, v500, fine, tool1;MoveC p2, p3, v500, z20, tool1;MoveC p4, p1, v500, fine, tool1;A complete circle is performed if the positions are the same as those shown inFigure 15.p1p4p2p3Figure 15 A complete circle is performed by two MoveC instructions.RAPID reference manual - part 1a, Instructions A-R 255