It makes half the circle, if you want a complete circle you have to use two movec commands. So it’s the starting point, the radius at 90 degrees and then the end at 180 degrees. You would then start the next movec at 180, 270 and back to the starting waypoint to close it. Don’t worry, it’s confusing

How is MoveP used to make a complete circle? I am confused by results of MoveP with the add CircleMove option and what each waypoint is supposed to be, and how to have the TCP perform a complete circle.

Waypoint_1: Is this where to start from? It is part of the circle?

ViaPoint: Is this supposed to define the radius of the circle?

EndPoint: This is where the motion should stop?

I tried making the endpoint very close to Waypoint 1, but I get an error about the program using too much time without instructing the robot.

I tried making the endpoint further away, but then the robot goes mostly around a circle, and then cuts to a straight line to go back to Waypoint 1.