Well... I always do it from hand - easy calculation if it's on the XY plane, 4 points needed, point 1 is the same as 4 and that's it.
eg. circle with radius 50mm:
L/J P[1] // X = 0, Y = 0
C P[2] // X = 50, Y = 50
P[3] // X = 100, Y = 0
C P[4] // X = 50, Y = -50
P[1]
The issue is I had kinds of productions, so the radius and height are not the same. I don't want to teach robot and store the positions every time. What I would like to do is send the position data from PLC include some offsets. Another point is if the circular radius is large, does 4 points enough? I didn't have robot on hand to try this, But as far as I know, if I have more points, the circular will be more accurate. Is that correct?
Display MoreWell... I always do it from hand - easy calculation if it's on the XY plane, 4 points needed, point 1 is the same as 4 and that's it.
eg. circle with radius 50mm:
L/J P[1] // X = 0, Y = 0
C P[2] // X = 50, Y = 50
P[3] // X = 100, Y = 0
C P[4] // X = 50, Y = -50
P[1]
I've never had enough time to play with such issues, but in my opinion 4 points should be enough - robot knows it's circular, count properly and that should be it 
But never tested it for many different cases.
The calculation itself you can do in PLC and then send the offset to points, no problem with that.
I've never had enough time to play with such issues, but in my opinion 4 points should be enough - robot knows it's circular, count properly and that should be it
The calculation itself you can do in PLC and then send the offset to points, no problem with that.
OK, I will try this. Thanks for your support.
It's much better to do circle in 3 segment by 120 deg approx. if you make more than 180 deg error will be happen.
first segment
P[1] start point
P[2] mid point
p[3] end point
second segment
P[3] start point
P[4] mid point
P[5] end point
third segment
P[5] start point
P[6] mid point
P[1] end point
