avoid T axis rotation

Dear all,

I am having trouble while trying to create a circle movement with my Yaskawa GP25 robot arm, both on the Motosim software and in real life with the robot. I created 3 points in a userframe (start point, passage point 1 and passage point 2, all with the same orientations), and 4 MOVC movements in the programm:

- MOVC Start_point

- MOVC Point1

- MOVC Point2

- MOVC Start_point

2 questions :

- The robot briefly stops at each passage point : is there a way to get a continuous mouvement ?

- The T axis spins 1 turns for the last MOVC leading the robot to stop due to T axis exceed limits, why this rotation and is there a way to avoid it ?

The tool is straight from the flange (200mm Z offset only).

Thanks in advance for any help.

Regards

No, position variables are defined in userframe with X,Y,Z coordinates and orientation.

What surprises me is that there is no rotation between :

- start point and point 1

- point 1 and point 2

hence there should be none also between point 2 and start point !

The idea is to keep the userframe to adapt the path, so this means I need to convert the points in pulse before the MOVC, rigth ?

I can try this, however I hope there might be a simple option I miss ...

regards

To BCinTN : You mean up/down, lefty ... ? Yes, all 3 points are in the same position. Plus, end point of the circle is the start point, not only same coordinate but same point. Moreover, points are spaced of less than 200mm and in an easy reachable location.

To TSGIR : Maybe I am misunderstanding or misexpressing myself. I created a userframe, adapted to the support. I created 3 points variables in this same userframe. The idea is to adapt the location of the moves depending the support location and orientation. Am I getting wrong somewhere ?

Regards