Thank you for the reply !
Using movec funtion can be an idea but It is not as precise as I want the circle trajectory to be.
I want to be able to have a postion in X Y and Z according the base system and RX RY RZ according to tool system (and not base system here)
If I try this function,will I get this result for example ? (I’m a bit confused about this function so could you tell me if my reasoning is correct pls ?)
pose_trans(p[x,y,z,a,b,c], p[0,0,0,rx,ry,rz]) = p[x,y,z,d,e,f] (position according to base system)
d = angle base result by adding a and rx
e = angle base result by adding b and ry
f = angle base result by adding c and rz
(p[x,y,z,a,b,c] : It’s a position according to the base coordinate system)
(p[0,0,0,rx,ry,rz] : Position acoording to the tool coordinate system)
(p[x,y,z,d,e,f] : final position according to the base coordinate system)