RAPID reference manual - Technology

InstructionCirPathModeRobotWare-OSCirPathMode - Tool reorientation during circle pathCirPathMode (Circle Path Mode) makes it possible to select different modes to reorientatethe tool during circular movements.This instruction can only be used in the Main task or, if in a MultiMove System, inMotion tasks.ExampleCirPathMode \PathFrame;Standard mode for tool reorientation in the actual path frame from the start pointto the ToPoint during all succeeding circular movements.This is default in the system.CirPathMode \ObjectFrame;Modified mode for tool reorientation in actual object frame from the start pointto the ToPoint during all succeeding circular movements.CirPathMode \CirPointOri;Modified mode for tool reorientation from the start point via the programmedCirPoint orientation to the ToPoint during all succeeding circular movements.DescriptionPathFrameThe picture shows the tool reorientation for the standard mode \PathFrame.The arrows shows the tool from wristcentre point to tool centre point for theprogrammed points.The path for the wrist centre point is dottedin the figure.The \PathFrame mode make it easy toget the same angle of the tool around thecylinder. The robot wrist will not gothrough the programmed orientation inthe CirPoint.RAPID reference manual - part 1a, Instructions A-R 27