# Setup Unconstrained or Fixed Mode for CircleMoveNode

**URL:** <https://forum.universal-robots.com/t/setup-unconstrained-or-fixed-mode-for-circlemovenode/2199>\
**Category:** URCap Development\
**Created:** [June 28, 2018, 1:16pm UTC](https://forum.universal-robots.com/t/setup-unconstrained-or-fixed-mode-for-circlemovenode/2199 "2018-06-28T13:16:28Z")\
**Posts on this page:** 7\
**Page:** 1

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**Author:** ![m.birkholz](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/m.birkholz/32/7084_2.png) [@m.birkholz](https://forum.universal-robots.com/u/m.birkholz)\
**Post date:** [June 28, 2018, 1:16pm UTC](https://forum.universal-robots.com/t/setup-unconstrained-or-fixed-mode-for-circlemovenode/2199/1 "2018-06-28T13:16:28Z")

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Hi,

is there any option to select the Orientation Mode for a Circle Move through the URCap API?  
i couldn’t find it in the Javadoc. 😕

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**Author:** ![jbm](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/jbm/32/614_2.png) [@jbm](https://forum.universal-robots.com/u/jbm)\
**Post date:** [June 29, 2018, 5:52am UTC](https://forum.universal-robots.com/t/setup-unconstrained-or-fixed-mode-for-circlemovenode/2199/2 "2018-06-29T05:52:20Z")

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This is correct, the CircleMove node is only supported as “template” (API 1.1) where it can be inserted as a blank (default) node, and not as a “configurable” node type, where it can later be configured (API 1.2).

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**Author:** ![m.birkholz](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/m.birkholz/32/7084_2.png) [@m.birkholz](https://forum.universal-robots.com/u/m.birkholz)\
**Post date:** [June 29, 2018, 6:00am UTC](https://forum.universal-robots.com/t/setup-unconstrained-or-fixed-mode-for-circlemovenode/2199/3 "2018-06-29T06:00:13Z")

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thank you @jbm.

I’m using the newest API 1.3.0 -  
I could build a Circle Move Node just Like though the PolyScope UI but it seems to miss the “unconstrained” or “fixed” option

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**Author:** ![m.birkholz](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/m.birkholz/32/7084_2.png) [@m.birkholz](https://forum.universal-robots.com/u/m.birkholz)\
**Post date:** [January 10, 2019, 8:16am UTC](https://forum.universal-robots.com/t/setup-unconstrained-or-fixed-mode-for-circlemovenode/2199/4 "2019-01-10T08:16:28Z")

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it seems to me that there’s still no option to change that through the latest API 1.5.0 ☹

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**Author:** ![marius.gheorghe](https://avatars.discourse-cdn.com/v4/letter/m/bbce88/32.png) [@marius.gheorghe](https://forum.universal-robots.com/u/marius.gheorghe)\
**Post date:** [October 28, 2020, 5:48pm UTC](https://forum.universal-robots.com/t/setup-unconstrained-or-fixed-mode-for-circlemovenode/2199/5 "2020-10-28T17:48:35Z")

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Still not possible to change the setting… Hopefully it gets added soon

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**Author:** ![rfmatos](https://avatars.discourse-cdn.com/v4/letter/r/f08c70/32.png) [@rfmatos](https://forum.universal-robots.com/u/rfmatos)\
**Post date:** [October 28, 2020, 6:00pm UTC](https://forum.universal-robots.com/t/setup-unconstrained-or-fixed-mode-for-circlemovenode/2199/6 "2020-10-28T18:00:03Z")

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Was checking this topic.  
Any news on this?

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**Author:** ![Ebbe](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/ebbe/32/1413_2.png) [@Ebbe](https://forum.universal-robots.com/u/Ebbe)\
**Post date:** [October 29, 2020, 12:04pm UTC](https://forum.universal-robots.com/t/setup-unconstrained-or-fixed-mode-for-circlemovenode/2199/7 "2020-10-29T12:04:12Z")

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That is cored in the feature request here: [Change Orientation Type of Circle Move Nodes through API](https://forum.universal-robots.com/t/change-orientation-type-of-circle-move-nodes-through-api/3428)  
But us still not implemented.