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movement in Cartesian space (three points form an arc), and the posture interpolation is attached.
Instruction sentence:
Instruction Parameters
（
optional
）：
C instructions include a series optional movement paramenters
，
——VEL
（
speed
）
,CNT
（
smooth
transition
）
,ACC
（
speedup ratio
）
,DEC
（
reduction ratio
）
, VORT
（
Attitude speed
）
, etc. After
the parameters are set, it is only valid for the current motion. After the motion instruction ends, it
will restore to the default value. If no parameter is set, it will run based on the default value of each
parameter.
Operation Steps
1. Select the previous line of the instruction line which needs to be inserted.
2. Select instruction→motion instruction→C.
3. Click the input box of the first point, move the robot to the required posture point or axis position,
click to record joints or record Cartesian coordinates, completing the record of the first point of the
arc.
Enter the point name.
4. Click the input box of the second point, move the robot to the required posture point or axis
position, click to record joints or record Cartesian coordinates, completing the record of the target
point of the arc.
5. Set the parameters for the instruction
C [circle point] [target point]
Optional Properties}
Example
：
L P[1]
C P[2] P[3]
‘State as below to perform
a complete circle
L P[1]
C P[2] P[3]
C P[4] P[1]
Comple
te circle
P2
P3
P4
P1