# How to use Ur robot to do circular telecontrol?
**URL:** https://forum.universal-robots.com/t/how-to-use-ur-robot-to-do-circular-telecontrol/22420
**Category:** Technical Questions
**Tags:** welding
**Created:** [July 4, 2022, 11:47am UTC](https://forum.universal-robots.com/t/how-to-use-ur-robot-to-do-circular-telecontrol/22420 "2022-07-04T11:47:32Z")
**Posts on this page:** 5
**Page:** 1
### Author:  [@ZiHang.Chu](https://forum.universal-robots.com/u/ZiHang.Chu)
#### Post date: [July 4, 2022, 11:47am UTC](https://forum.universal-robots.com/t/how-to-use-ur-robot-to-do-circular-telecontrol/22420/1 "2022-07-04T11:47:32Z")
Hello, I would like to ask you how to use Ur robot to make circular remote motion. I want it to be able to make circular motion around the fixed center and radius. Is it just one spot at a time? Is there any good instruction I can try?
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### Author:  [@eric.feldmann](https://forum.universal-robots.com/u/eric.feldmann)
#### Post date: [July 5, 2022, 9:26pm UTC](https://forum.universal-robots.com/t/how-to-use-ur-robot-to-do-circular-telecontrol/22420/2 "2022-07-05T21:26:52Z")
You can select a MoveP which then has an optional “Add Curve” button at the bottom. It takes 3 points to construct an arc, so you’ll need 2 MoveCs.
Alternatively, you can use trig to convert polar coordinates to Cartesianal coordinates, and simply let theta run from 0 to 360 inside a loop/script node:
x = rcos(theta)
y = rsin(theta)
moveP(p[x, y, Z\_height, 0,0,0], speed, acc, blend, time)
I’ve done circles this way in the past, and it worked pretty well. Just fixed a point in the middle and picked an r. Inside the loop I ran theta = theta + 1 until it was \> 360. I may have used the path\_offset() command as well, not sure.
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### Author:  [@ZiHang.Chu](https://forum.universal-robots.com/u/ZiHang.Chu)
#### Post date: [July 7, 2022, 2:15am UTC](https://forum.universal-robots.com/t/how-to-use-ur-robot-to-do-circular-telecontrol/22420/3 "2022-07-07T02:15:30Z")
Thank you, I am using MoveC at the moment, but I can only set two points, I want to set more, I will try your method.
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### Author:  [@eric.feldmann](https://forum.universal-robots.com/u/eric.feldmann)
#### Post date: [July 7, 2022, 2:28am UTC](https://forum.universal-robots.com/t/how-to-use-ur-robot-to-do-circular-telecontrol/22420/4 "2022-07-07T02:28:07Z")
You don’t have to do a whole circle in 2 moves. When we teach robots doing circular welds, we teach it in quarters. So 8 points total, every 45 degrees
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### Author:  [@ZiHang.Chu](https://forum.universal-robots.com/u/ZiHang.Chu)
#### Post date: [July 7, 2022, 2:39am UTC](https://forum.universal-robots.com/t/how-to-use-ur-robot-to-do-circular-telecontrol/22420/5 "2022-07-07T02:39:47Z")
So you can move 1 over n circles at a time, right? But is it still a circle?