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T800_412T800_412 Posts: 51 Apprentice
I am testing a basic program to do a circle move and would like some help with fine tuning the movement.
1. I would like the circle move to start and stop in the same place, thus creating a complete closed circle.
2. I would like the end of the movement to have a smooth stop, not abrupt, which is causing protective stop when the speed is increased.

My current program has simply
+ MoveP
   *Waypoint_1
movec(CM1_viapoint, CM1_endpoint, acceleration, speed, 0.025)
movec(CM2_viapoint, CM2_endpoint, acceleration, speed, 0.025)
+MoveP
  *Waypoint_1

I put the Waypoint_1 move because the TCP is sometimes stopping before completing the entire circle. 

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