Hello all,

I have an application where I need to make two circles without the robot stopping after the first. Basically have the UR seamlessly transition into the second loop. However no matte what we do the UR either stops, makes a crazy unexpected move, skips over the loop and only does one circle.

@mhowe how fast do you need the robot to make the two moves?  Is it the same circle?  Can you upload a video of what it's currently doing. 

The circle will be about 650 mm in about 7 seconds. Yes it will be the same circle. If I put moveP and 8 waypoints with a blend I am able to get a good circle, but with the circle move it fails. Unfortunately I am unable to record it at this time.

So a circumference of 650 mm or a circumference of 325 mm done twice?

We did this, and it works great  ( Think of this as a mixer making cake )

Loop 2 times
  MoveP
     Waypoint_1
   CircleMove
     Waypoint_2
     Waypoint_3
   CircleMove
     Waypoint_4
     Waypoint_1

Now a moveL prior to that for bringing the robot in the machine, somehow prevents it from completing the second circle. A popup says
blend radius is to small

Circumference is 2.042m

It's prior to the loop. Just powered up the robot and threw in a sync after waypoint_1 and it works, but not perfect. When I suppress the sync it says MoveC blend radius to small. 

This seems like it should be an easy fix but its putting up a fight.

MoveL
  Way
  Way
Loop 2 times
  MoveP
     Waypoint_1
   CircleMove
     Waypoint_2
     Waypoint_3
   CircleMove
     Waypoint_4
     Waypoint_1
     sync()

Here is the program. It gets the job done but it sounds rough on the joints with the sync(). Any other way to replace the sync()?

Just one thought, have you tried replacing the last waypoint, waypoint_1 with another point thats close but not on top of the starting point?  I believe the issue is you are trying to start the movep from on top of itself. I'd try setting the point a couple of degrees from the start point and see if that works. 

You could then then have it exit the loop through waypoint_1 so that you close the circle on both loops

That way has worked in the past for us. A bunch of MoveP way points with a blend radius makes a nice circle and has no transitioning problems but the MoveC seems to not like a MoveL after.