RAPID reference manual - Technology

InstructionMoveCSyncFixed Position EventsMoveCSync - Moves the robot circularly and executes aRAPID procedureMoveCSync (Move Circular Synchronously) is used to move the tool centre point (TCP)circularly to a given destination. The specified RAPID procedure is executed at the middleof the corner path in the destination point. During the movement, the orientation normallyremains unchanged relative to the circle.This instruction can only be used in the Main task or, if in a MultiMove System, inMotion tasks.ExamplesMoveCSync p1, p2, v500, z30, tool2, “proc1”;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. Procedure proc1 is executed in the middleof the corner path at p2.ArgumentsMoveCSync[\WObj]CirPointCirPoint ToPoint [\ID] Speed [\T] Zone ToolProcNameData type: robtargetThe circle point of the robot. The circle point is a position on the circle betweenthe start point and the destination point. To obtain the best accuracy, it should beplaced about halfway between the start and destination points. If it is placed tooclose to the start or destination point, the robot may give a warning. The circlepoint is defined as a named position or stored directly in the instruction (markedwith an * in the instruction). The position of the external axes are not used.ToPointData type: robtargetThe destination point of the robot and external axes. It is defined as a namedposition or stored directly in the instruction (marked with an * in the instruction).[ \ID ] (Synchronization id) Data type: identnoThis argument must be used in a MultiMove System, if coordinated synchronizedmovement, and is not allowed in any other cases.The specified id number must be the same in all cooperating program tasks. Theid number gives a guarantee that the movements are not mixed up at runtime.RAPID reference manual - part 1a, Instructions A-R 265