Universal Robots UR30 - Page 122

Detail The robot starts the circular movement from its current position, or start point, and moves
through a ViaPoint specified on the circular arc, to an EndPoint that completes the circular
movement.
A mode is used to calculate tool orientation, through the circular arc.
The mode can be:
•
Fixed: only the start point is used to define the tool orientation.
•
Unconstrained: the start point transforms to the EndPoint to define tool orientation.
UR30 123 User Manual
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