MC-Basic:group.CIRCLEPOINT

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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 – 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
caption

See Also