Omron SYSMAC CJ Operation Manual page 208

All BASIC commands
196
SPECIFIED END POINT
/i
Note: In order for the MOVECIRC to be correctly executed, the two axes
generating the circular arc must have the same number of encoder
pulses versus linear axis distance. If this is not the case it is possible to
adjust the encoder scales in many cases by using ENCODER_RATIO
parameter.
Note: The MOVECIRC computes the radius and the total angle of rota-
tion from the centre, and end-point. If the end point is not on the calcu-
lated path, the move simply ends at the computed end and not the
specified end point. It is the responsibility of the programmer to ensure
that the two points correspond to correct points on a circle.
Note: Neither axis may cross the set absolute repeat distance
REP_DIST during a MOVECIRC. Doing so may cause one or both
axis to jump or for their FE value to exceed FE_LIMIT.
ACTUAL END POINT
C D
B
A
H G
Section 4-2
E
F