[Cause]
The taught points (start point, via point, and target point) defining the arc path in a C circular-motion instruction form an arc that is close to a straight line. Specifically, the angle between the start-to-via vector and the via-to-target vector is small. In this case, circular motion is not performed; linear motion is performed to the taught position on the line shown in the alarm.
[Countermeasure]
When this alarm occurs, linear motion will be performed even if teaching is performed with the C arc motion command. If the trajectory of linear motion is not the expected trajectory, Then the C arc motion command statement of the line number displayed in the alarm message is divided into multiple linear motion statements for teaching.
代码
Note: The alarm severity of this alarm is WARN, so even if teaching is performed with the C arc motion command, linear motion will be performed when this alarm occurs. When you want to stop linear motion, set the alarm severity to STOP on the alarm severity interface to stop the alarm.