Move the robot in a circle while keeping the TCP angled x degrees towards the center of the circle

[sakari.salmi]

Hi all,

We are using our robot for dispensing purposes, and thus we would need to keep the tool angled towards the path travelled at all times. In the rough image below the tool dispenses a circular pattern and the TCP is pointed towards the circle all the time.

Any suggestions how this could be done? Preferably in URscript. I can create a circular path with MoveC but I have trouble keeping the TCP pointed towards the circle.

[nrivas1]

Have you tried using “Fixed Mode” in the MoveC function?

[mvrooij]

movep (move process) might also help, it was designed for dispensing purposes. I had a similar problem and ended up making my own ur script function, using speedl(), but that’s not easy