We are trying to program the movements of a Mitsubishi RH-3FH-D SCARA robot and are about to pull our hair out. 
Via spindle tooling ending with vacuum cups we are holding thin rectangular items roughly 11.3mm X 6.3mm with 7mm radii on each corner. We need to move the edge of the item past a fixed point in a continuous and even manner. The straight line moves are not an issue, but creating the arc on the corners is just about eating our lunch. The center point of rotation of the spindle is in the center of the rectangle making the arcs on the corners very difficult to execute.
When I was writing CNC programs one of the things we could do was change the XY intersection (origin) to the center of a feature. Is there anyway to so something like this with the Mitsubishi SCARA robots?
Or is there another solution? "Back in the day" of NC programming one had to calculate each & every point of an arc. That's one possible solution, but I'd really rather find something much more friendly.
Thanks in advance,
Stan
