Hi everybody!
I am having problems with circular movements programming. It is the first time that I am using this kind of movements, so I suppose that there is something missing.
I have no problems when setting up the initial circular movement with the Teach Pendant, so I move to the initial point, then I save the auxiliar one, and after that the final point of the circular movement. Until then everythings works correctly, it performs the recorded instruction.
But then I modify both auxiliar and final point through the program code and when I run again the program I always find the same message: KSS01506 - Circular parameter inadmissible. I do not understand the issue, since in some cases the difference between the manually recorded points in even lower than 0.01mm.
These are the instructions that I use for modifying the coordinates:
XP2.X=103.5
XP3.X=102.5
The initial coordinates (From touch-up):
XP1={X 104.506004,Y -58.7500,Z 15.924939,A 89.718772,B -39.997650,C 90.560539,S 2,T 42,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
XP2={X 103.494667,Y -58.7499,Z 15.925007,A 89.784584,B 0.003912,C 90.379760,S 2,T 42,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
XP3={X 102.527405,Y -58.7499,Z 15.925012,A 89.718795,B 39.998657,C 90.199020,S 2,T 34,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
Do you know why does it happen? Should I use another instruction for recalcullating the circular movement parameters?