MoveC problem

ehsanuk

Hi,

I am trying to write my name using IRB 4400, and when I get to s I can not continuously draw it. It gives me this error, All circle points on a straight line or the circle position is too close to the start or end position of the circle or conflict when selecting reorientation.

For example:

MoveL RelTool(p10,37.5,170,0Rx:=0Ry:=0Rz:=0),v300,fine,ehsan_to ol;

MoveC RelTool(p10,50,150,0Rx:=0Ry:=0Rz:=0),RelTool(p10,37.5,130 ,0Rx:=0Ry:=0Rz:=0),v300,fine,ehsan_tool;

MoveC RelTool(p10,22,140,0Rx:=0Ry:=0Rz:=0),RelTool(p10,25,150,0 Rx:=0Ry:=0Rz:=0),v300,fine,ehsan_tool;

and so on,

my other problem is the quaternions, the program below, define z going to the page, x to the right and y 90 degree to x. I want to move the tool to 45 angle. my values are q1=0.92385, q2=0, q3=0.38275 and q4=0. However, the problem is tool moves to 135 degree instead of 45. I don't know what to do. appreciate any comment.

CONST robtarget p10:=[[1049.08,-793.50,690],[0.6533,0.6533,0.2706,0.2706],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
PERS tooldata ehsan_tool:=[TRUE,[[0,0,202],[1,0,0,0]],[1,[0,0,100],[1,0,0,0],0.6,0.6,0.6]];