MOTN-198: Circular Start and Via Points Too Close
The Start and Via points taught for a circular move sit too close together.
What it means
The Start and Via points taught for a circular move sit too close together. When those points crowd each other, a small shift in one can swing the resulting circle dramatically.
Common causes
Ranked by what technicians most often find, most likely first.
- Start and Via points for the circular move were taught nearly on top of each other.
- Uneven spacing of the circular points, leaving too little separation to define a stable arc.
How to fix it
- Re-teach the circular move points so they are separated by a workable distance. Re-teaching jogs the robot; work in T1 low-speed with the deadman held and the cell clear of people.
- Aim for evenly spaced points around the intended circle to keep the geometry stable.