RAPID reference manual - Technology

CirPathModeRobotWare-OSInstructionLimitationsThe instruction only affects circular movements.When using the \CirPointOri mode, the CirPoint must be between the pointsA and B according to the figure below to make the circle movement to go throughthe programmed orientation in the CirPoint.A1/4 1/4 1/4 B1/4CirPointIf working in wrist singularity area and the instruction SingArea \Wrist has been executed,the instruction CirPathMode has no effect because the system then selectanother tool reorientation mode for circular movements (joint interpolation).This instruction replace the old instruction CirPathReori(will work even in future but will not be documented any more).SyntaxCirPathMode[‘\’PathFrame] | [‘\’ObjectFrame] | [‘\’CirPointOri] ‘;’Related informationDescribed in:InterpolationMotion settings dataCircular move instructionMotion Principles - Positioning during ProgramExecutionData Types - motsetdataInstructions - MoveC30 RAPID reference manual - part 1a, Instructions A-R