Examples are valid for:

CB1 Software version: 1.5 and forward
CB2, CB3 and e-Series Software version: All versions

Note that older or newer software versions may behave differently.

To create a 360 degree circle, it requires two half circles.
Each half circle consists of 3 waypoints, the first waypoint defines the start of the circle and the two subsequent waypoints must be taught as CircleMove, the robot will then automatically calculates the radius of the circle.

In this example Waypoint_1 defines the start of the circle and Waypoint_2 is a viapoint used for calculating a circular movement to end in Waypoint_3 to create the first half circle.

The second half circle uses Waypoint_3 (from the first half circle) as starting point, Waypoint_4 as via point and Waypoint_5 as end point to complete the second half circle. Waypoint_5 is taught in the same exact position as Waypoint_1.



Waypoint_5 could also be renamed Waypoint_1 and the popup will ask if you wish to copy the coordinates.

Download below a Polyscope .urp example