My robot is working fine for all moves except the circle move. I might be misunderstanding the logic perhaps someone can assist. I have been following the video tutorial using a roll of tape as Chris does but I get very different behavior.

• I jog to the center if the tape and create a new "Move C Center" move.

• Next I jog in X and Y to the edge of the tape and create a "Move C Start" move.

• Then I jog in X and Y to another edge of the tape and and create a "Move C Plane" move.

  When I execute this program the robot does not behave as it does in the video. Initially it tries to rotate the wrist upside down, then draws a circle in the X-Z plane. Sometimes it hits an axis limit instead or drives down into the table below the tape level. I have tried various orientations and circle sizes. The robot is fully calibrated, moves perfectly in all axis and completes arc moves etc. Thanks