RAPID reference manual - Technology

MoveCRobotWare-OSInstructionThe instruction MoveC (or any other instruction including circular movement) shouldnever be started from the beginning, with TCP between the circle point and the endpoint. Otherwise the robot will not take the programmed path (positioning around thecircular path in another direction compared with that programmed).Make sure that the robot can reach the circle point during program execution and dividethe circle segment if necessary.SyntaxMoveC [ ’\’ Conc ’,’ ][ CirPoint ’:=’ ] < expression (IN) of robtarget > ’,’[ ToPoint ’:=’ ] < expression (IN) of robtarget > ’,’[ ’\’ ID ’:=’ < expression (IN) of identno >]’,’[ Speed ’:=’ ] < expression (IN) of speeddata >[ ’\’ V ’:=’ < expression (IN) of num > ] | [ ’\’ T ’:=’ < expression (IN) of num > ] ’,’[Zone ’:=’ ] < expression (IN) of zonedata >[ ’\’ Z ’:=’ < expression (IN) of num > ][ ’\’ Inpos ’:=’ < expression (IN) of stoppointdata > ] ‘,’[ Tool ’:=’ ] < persistent (PERS) of tooldata > [ ’\’ WObj ’:=’ < persistent (PERS) of wobjdata > ] [ ’\’ Corr ]’;’Related informationDescribed in:Other positioning instructionsDefinition of velocityDefinition of zone dataDefinition of stop point dataDefinition of toolsDefinition of work objectsWrites to a corrections entryMotion in generalCoordinate systemsConcurrent program executionRAPID Summary - MotionData Types - speeddataData Types - zonedataData Types - stoppointdataData Types - tooldataData Types - wobjdataInstructions - CorrWriteMotion and I/O PrinciplesMotion and I/O Principles - Coordinate SystemsMotion and I/O Principles - SynchronisationUsing Logical Instructions260 RAPID reference manual - part 1a, Instructions A-R