Circular Motions

Rather than a LIN move use a CIRC one.

You just need to teach the END point and an AUX (middle) point.
It will create an arc from the start point, moving through the AUX point to the END point.

The CIRC motion is intended for use with hand-taught points. You teach the Start, End, and Aux points, and the robot generates an arc through them.

Is your situation different? How are you trying to use circular motion? From what data are you trying to create your circle?

I have generated reasonably good circular motions by mathematically creating a series of points on a circular arc and moving through them using LIN or SLIN motion, but that does not sound like what you want.

You can always use a CIRC_REL, just this afternoon I've been having problems with the very same thing until I've found this:

http://webcache.googleusercontent.com/search?q=cache…3&hl=en&ct=clnk

check it, it is in the roboterforum (which is almost the same than this one but in german and only available for germans I think). That is why it is from google cache... because I've not been able to reach it...

All In all this should help you to calculate easily the circle.

Good luck!

Hi,

Quote

@Skyfire I have start point, end point and the centre of the circle. I need to automatize the motion of bot and remove the manual feeding of point.

So you have three points in a plane allowing you to calculate the circle normal by the plane normal and parametrising your circle using the circle parametric equation. This allows you to calculate any two positions of the circle that can be entered into the circ command.

If you don't know how "plane normals" and circle represantations by a "circle parametric equation" are calculated you can use google leading to numerous results.

Fubini

hello, i want to make circ for milling it will be on ground place and 1380mm diameter
i use krc1 unit with krc 150 body. and i tried two CIRC movement command but it doesnt make right circle. it makes arcs.

Did you program the Start, Mid, and End points of the CIRC at the correct locations? Are your Base and Tool data accurate? Are you trying to make a complete 360deg circle with a single CIRC command?