Basic Characteristics RAPID

MoveC Moves the robot circularly
Examples
Arguments
MoveC 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.
MoveC p1, p2, v500, z30, tool2;
The TCP of the tool, tool2, is moved circularly to the position p2, with speed data
v500 and zone data z30. The circle is defined from the start position, the circle
point 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 the
instruction (marked by the second *). The circle point is also stored in the
instruction (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 in
Figure 1.
p4
p1
p3
Figure 1 A complete circle is performed by two MoveC instructions.
MoveC [ \Conc ] CirPoint ToPoint Speed [ \V ] | [ \T ] Zone [ \Z]
Tool [ \WObj ]
[ \Conc ] (Concurrent) Data type: switch
Subsequent logical instructions are executed while the robot is moving. This
argument is used to shorten the cycle time when, for example, communicating
with external equipment, if synchronisation is not required.
RAPID Reference Manual 8-MoveC-1
p2