how can i do circle in ARLA TO IRB 2000 robot?

[TLALOC]

i spent 1hr and i cant, the controller is S3 and the robot is irb 2000 abb

[lemchast9]

Hi Robotero:

You need to use the circle function, this one needs 3 points, 2 paths and a circle between them. The path refer about the start and end point, meanwhile the circle shows the arc of the circle. So if you point in your robot  in a triangle,  paths are in line, and the circle point is near them, it will creat a little arc , but if you increase the height of the circle, the arc will be more pronounced. In other hand, if the path lines are near, the robot will draw a circle, if you separate will creat an arc. You need to take care because  if you exceed the lenght of the paths and the circle is so near the line you will creat an arc.
Note: you can not creat a complete circle with this 3 points with the same starting and ending point, I've tried it jajajaja, need to creat 2 circles. This function is under positioning menu, give 2 or 3 scans. When you type an instructions of positioning has the structure:

Pos v=100% path

no press other menu, give 2 or 3 scan and appears cicle, type it

Pos v=100% circle

A program example is the next one:

10 V=1000 mm/s max=2500mm/s
20 TPC 0
30 Modrect Coord (or Rect Coord)
40 Pos v=100% path
50 Pos v=100% circle
60 Pos v=100% path
70 return

Have a nice day and good luck!