Robotics in Manufacturing
MOTN-197

MOTN-197: Circular Motion Points Are Collinear

A circular move can't be computed because its start, via, and points fall on the same straight line.

What it means

A circular move can't be computed because its start, via, and points fall on the same straight line.

Common causes

Ranked by what technicians most often find, most likely first.

  1. The taught circular start, via, and points lie on a single straight line.

How to fix it

  1. Re-teach the circular motion points.
  2. Space the points evenly around the intended arc so they aren't on the same straight line.

Quick facts

Category
Motion
Affected series
R-30iB; R-30iB Mate; R-30iB Plus; R-30iB Mate Plus
Alarm family
MOTN

Verified against FANUC documentation (B-83284EN-1).Last reviewed: 2026-07-12.Editorial process