MC-Basic:group.CIRCLEPOINT
Sets a point of the circle arc executed by CIRCLE command. If this is given, the angle and circlecenter are not required, but the TargetPoint is.
Data Type point (location or joint)
Syntax
<group>.CirclePoint
Availability
All versions
Units
location-units
Non-Volatile No
Scope
Task, Terminal
Write Access Write – Nodal Only
Limitations
Can only be given in the CIRCLE command
Examples
CIRCLE g1 CirclePoint = #{10,20} TargetPoint = #{100,200}
Half Circle
Here is a simple example for generating half circle motion with a delta (XYZR) robot.
Attach DELTA
DELTA.En=1
Record circPnt.rec 100000 Gap=1 RecData = DELTA.SetPoint{1},DELTA.SetPoint{2}, Sys.Clock
Move DELTA #{100,0,426,0}
Delay DELTA 3000
RecordOn
Circle DELTA CirclePoint=#{0,100,426,0} TargetPoint=#{-100,0,426,0}
Delay DELTA 3000
RecordClose
Detach DELTA
