Understanding MoveC in Universal Robots

MoveC or circle move is the command that makes the robot move along a circular path instead of a straight line.

A MoveC motion uses three waypoints:
1. The starting point
2. The Via Point
3. The End Point

These three points define an arc-shaped path, allowing the TCP (tool centre point) to move smoothly along a curve.

To create a full circle, you need two MoveC motions placed one after the other, each covering half of the circle.

𝗪𝗵𝗲𝗿𝗲 𝘁𝗼 𝗳𝗶𝗻𝗱 𝗶𝘁:
To use it, first add a Move motion, change it to MoveP, and then insert a Circle Move inside it.

𝗢𝗿𝗶𝗲𝗻𝘁𝗮𝘁𝗶𝗼𝗻 𝗺𝗼𝗱𝗲𝘀:
➔ Fixed: The robot keeps the same orientation relative to the start point while moving along the circle.
➔ Unconstrained: The robot is free to adjust its orientation naturally as it follows the arc.
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Видео Understanding MoveC in Universal Robots канала The Robot Queen