Cutting a hole in a tube XRC with laser

    Hello,
    I have a project and I dont know how to implement the program.
    I have to cut a hole perpendicular hole (circle) in a pipe with a laser attached to a XRC robotic arm.
    I tried to use the MOVC instruction but I faced this problem.
    If the distance between the laser head and the pipe is increased because of the pipe curvature, then the finishing (rugosity) of the surface become bad.
    Basicaly I need to keep a constant distance between the laser head and the pipe.

    It is posible (supposing that the robot is in cartesian coordinates) to make the circle in xy with movc instruction and in the same time to increase or decrease the z axis?

    Any ideeas how to do it ?
    Thank you.

    I did this plasma cutting years ago... I did it as two 1/2 circles with a MOVL in the middle. the MOVC ending of the first 1/2, the MOVL, and the MOVC start of the 2nd 1/2 are all the same position. this also allowed for a little posture change as well on each side.

    Oh, well

    Perhaps make a planar MOVC (like you have made already) and then rewind and insert many points in the circle and adjust the Z height for each one. perhaps temporarily adding something to the tip so you can inch the arm to the exact position?

    Sorry for the late response, I have been on vacation somewhere that had no phone or internet available to me.
    This is a snippet of an old archive I have on an MRC robot I worked on a very long time ago.....
    Notice C0006, C0007, and C0008. This job is welding 180* of a circle. for cutting, as Mr.Devils95 stated, used the same code at 90* intervals for greater control and accuracy.

    C0000=-262,-88854,79792,1,-32439,59
    C0001=6045,-15396,-9295,9953,18968,-71689
    C0002=5829,9242,-39710,10996,29582,-73026
    C0003=5639,11409,-40003,10948,29585,-72971
    C0004=7292,9923,-40702,12310,30567,-68546
    C0005=-5106,28465,-35997,-14200,13023,-33712

    C0006=-1150,31880,-34554,-954,5400,1576
    C0007=-1150,31880,-34554,-954,5400,1576
    C0008=-1150,31880,-34554,-954,5400,1576

    C0009=1604,30796,-34784,10850,11493,32861
    C0010=-1077,22884,-35875,5096,20744,57014
    C0011-4,7627,-39788,-128,30650,76678
    C0012=001,-6254,5158,-263,-12229,-1676
    C0013-262,-88854,79792,1,-32439,59
    //INST
    ///DATE 2003/04/28 07:34
    ///ATTR SC,RW
    ///GROUP1 RB1
    NOP
    MOVJ C0000 VJ=100.00
    MOVJ C0001 VJ=100.00
    MOVJ C0002 VJ=100.00
    MOVJ C0003 VJ=12.50
    ARCON ASF#(6)
    MOVC C0004 V=8.3
    MOVC C0005 V=8.3

    MOVC C0006 V=8.3
    MOVL C0007 V=8.3
    MOVC C0008 V=8.3

    MOVC C0009 V=8.3
    MOVC C0010 V=8.3
    ARCOF AEF#(1)
    MOVJ C0011 VJ=12.50
    MOVJ C0012 VJ-100.00
    MOVJ C0013 VJ=100.00
    INC I003
    INC I004
    END

    Oh, well

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