This program example consists of 10 half circles (CircleMove).
The robot starts up and away from the starting of the spiral (waypoint_100) and then move down to starting position (waypoint_1). Notice a CircleMove must always have a starting point which in this case is waypoint_1. The CircleMove itself represents the via point and the end point of the CircleMove.
In this example the transition from one circle to next circle is between the via point and end point of the second half circle e.g. at the transition between waypoint_4 to waypoint_5.
Remarks to the program.
Notice the Blend Radius setting for the overall MoveP property – and the individual Waypoint for the end point of the half circle.
(The via waypoint does not have a Blend property). (Minimum blend radius is 1 mm).
Result – drawn with a pen mounted on a UR5 robot.
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By Zacobria Lars Skovsgaard
Accredited Universal Robots support Centre and Forum.