Yamaha SRCD User Manual page 105

CAUTION
!
This command is invalid for single-axis controllers.
CAUTION
!
The applicable radius is max. 1000mm and min. 2mm.
CAUTION
!
The SCARA robot, etc. which do not operate in the cartesian coordinates cannot
be moved in the circular interpolation mode.
*1: Single-axis controllers: PRM30, dual-axis controllers: PRM17
*2: Single-axis controllers: PRM44, dual-axis controllers: PRM64 and PRM104
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CHAPTER2 PROFIBUS Unit