MOVEC program instruction Details MOVEC (angle,turn) location1, location2 This MOVEC program instruction syntax is designed to create a circle/arc path that starts from the current robot position or, in case of Continuous Path, the current robot destination, and ends at a location defined by location2 . The intermediate location ( location1 ) is used to define the plane of the circle and the angle of the arc. See the following figure. MOVEC with Location1 and Location2 If the three points are aligned or two of them coincide, MOVEC will cause a straight-line motion instead of creating a circle or arc. With this syntax, the orientation of location1 is not used.
If angle is specified then the robot will move by angle degrees and not necessarily end up at location2 . In other words, the angle has higher priority than location2 in defining the final position. When angle is specified, the orientation of location2 is ignored. The final orientation is determined entirely by the turn parameter: if it is omitted or zero, then the final orientation will be the orientation of the start position; if turn is non-zero, then the final orientation is the one of the start position rotated by angle around the axis of the arc.
When turn is non-zero, MOVEC will generate an *invalid orientation* error for 4-axis robots (like the Cobra and Quattro robots, or Python linear modules) if the plane of the circle is not parallel to the XY plane of the Tool Center Point. As with straight-line motion, circular motion is compatible with multi-turn rotation. This means that if location2 is a precision point, the multi-turn joint can rotate more than 360 degrees. MOVEC(angle ,turn ) center This MOVEC program instruction syntax is designed to create a circle/arc path that starts from the current robot position or, in case of Continuous Path, the current robot destination.
The path is centered around the center location; the end location is specified with angle degrees. eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 347