Used Robots.com: Panasonic G Advanced Programming

Operation Manual (Advanced Function) 3-19 ｷ If two teaching points are close to each other (see Fig.5), use caution when changing the
teaching points. Slight change of the teaching points may cause a significant change in locus.
(see Fig.6) Fig. 5 Fig. 6 ｷ It is recommended to create many teaching points for a circular line to improve accuracy. < Adding circular teaching points > ｷ It is possible to add intermediate points of a circular line.
However, by performing the following operation, a circular end point and circular start point
can also be added. Move the robot to a point in front or behind of a circular line
intermediate point. Make sure that “Add” is selected (displayed), then press the CIRCLE
WEAVE END END CIRCLE END key and then the STORE WELD
STORE STORE key.
Select “Yes”, then the point is added at the position as both
circular end point and circular start point. Split circle pass in two?
Store CIRCLE START step. 1 Yes 2 No *OPR select* 1/1 < Example> 6 7 8 9 8,9 6 7 10 11 Place the robot at the position marked ▼ and perform the above operation, then a teaching point
which is stored as both the circular end point (8) and the circular start point (9) is added.


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