I have generated a program in CAM. The program has many arcs. Some of them, according to the controller, have a zero radius. I decided to rewrite the postprocessor to generate such arcs as straight lines in the script. But I noticed that in fact the radius of the arcs is not zero. I compared three arcs, two of them are problematic, and the third is normal. All three arcs have the same radius of 391 mm. What is the problem? Why is the controller talking about a zero radius? 
шибер.script (586.7 KB)
Hi @jarlon96,
Welcome to the UR community!
The issue seems to be in the blend. If you stop the robot at the point it will pass the first error. But it looks like the blending algorithm could be improved.
Ebbe