To create a circle

    It's a basic solution. Could be improved !

    R[1] = circle radius
    PR[1] = center point of circle
    PR[2] = Point @ 12 o'clock on circle
    PR[3] = Point @ 3 o'clock on circle
    PR[4] = Point @ 6 o'clock on circle
    PR[5] = Point @ 9 o'clock on circle

    This could be called as a sub-routine.
    Your program moves to center point of circle, and then you call sub-routine (the radius could be put as argument).
    I copy LPOS to a lot of PR to be sure you will not have UNINIT issue and also want to keep PR[1] as center point (not altered).

    /MN
    1: PR[1]=LPOS ;
    2: PR[2]=LPOS ;
    3: PR[3]=LPOS ;
    4: PR[4]=LPOS ;
    5: PR[5]=LPOS ;
    6: PR[2,1]=PR[1,1]+R[1] ;
    7: PR[3,2]=PR[1,2]-R[1] ;
    8: PR[4,1]=PR[1,1]-R[1] ;
    9: PR[5,2]=PR[1,2]+R[1] ;
    10:L PR[2] 1000mm/sec FINE ;
    11:C PR[3]
    : PR[4] 1000mm/sec CNT100 ;
    12:C PR[5]
    : PR[2] 1000mm/sec CNT100 ;
    13:L PR[2] 1000mm/sec FINE ;

    If it starts well the first time, you have not checked all !

    I have used this technique many times with great results. Now I have something that is stumping me. I have a part that I need to laser cut circular holes on many different planes. Is there a way to do this based on the TCP? I was told in order to use this on many planes, I would need many user frames, but that seems more difficult than it needs to be. Any help would be appreciated. TIA

    One way to do it is by defining a pivot TCP, at the radius distance from the laser torch TCP

    The idea is to move the robot so as the pivoting TCP is at the center of the circle
    and at the same time the laser is at the start cutting point

    Then just move the robot with a Linear interpolation, keeping the same position but changing the orientation
    This will make the laser to move along a circular path.

    Unfortunately, this will rotate the tool and probably your cables will become a limitation.
    Off course this will also have the limitation that only circles and the defined distance can be made
    unless you dynamically change the pivot TCP


    Another way is to compute the entire circular path with linear segments.
    I've done that before. I was asked for a full parametric routine. Only centers were taught, the routine compute all movements needed using the center position and some parameter values.
    The robot then made the approach movement at the defined clear distance,
    move down to cutting depth, then move along a circle; compensating the cutter radius to get the design circle dimension

    Sorry, I cannot disclose the code, but I can give you a hint in case you attempt to code it yourself
    The position of the laser is compute inside a loop that rotates the offset around the center
    In that way successive points are computed
    then a linear move command inside the loop cuts each segment as they arecomputed

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