# MOTN-098 Circle angle too large

• I'm programming an RJ-3, trying to do a 1/2 circle move. I know that I'm following the steps properly to teach the move, but when I try to check the move I keep getting the error MOTN-098. I have tried a different angle for the start position and I'm still being told that the angle is too large. The area of the move is only about 6"X10" and I have done this on 3 different robots on the same fixture with no problem. I'm going to try another start angle/position and see what happens. Any suggestions?

• Im not sure what your background is, but if you know your CNC, then you are probably used to circular points being a start, a finish, and then a radius. Fanuc tries to make it easier on the programmer by calculating the radius using the values in the second point of your move.

L P[1:start] 500mm/sec FINE
P[3:end] 500mm/sec FINE

if point 3 is offset too much from the other points it cannot make a circle from 1 to 3 and still go though the second point. i suggest you hard code the points then touch them up after you get it working.

P[1:start]
X=0 P=0
Y=0 W=0
Z=0 R=0

X=50 P=0
Y=50 W=0
Z=0 R=0

P[3:end]
X=100 P=0
Y=0 W=0
Z=0 R=0

if you cant get it to work like that, then you might have some bigger issue. you can try a full circle.

L P[1:start] 500mm/sec FINE
P[3:end] 500mm/sec FINE
P[1:start] 500mm/sec FINE

X=50 P=0
Y=-50 W=0
Z=0 R=0

• I am getting MOTN-098 error for "Circle angle too large" when programing Fanuc i30. I simply created a letter "S" with circle arc movement and lift up the tool about 2 inches about the plane when finished writing the "S", however, I am getting this error at the end of the "S" but it won't execute the last movement. Any help would be appreciated.

You must have fine moves at the beginning and end of each arc. So the top, middle, and bottom of the S should be fine and the mid points CNT100.

• Problem solved. I had a wrong end point. Thank you!

You must have fine moves at the beginning and end of each arc. So the top, middle, and bottom of the S should be fine and the mid points CNT100.

## Images

• I used this same code from YouTube and I’m stilling getting this code