Finding center point x,y,z of a circle created from 3 points in wobj0

RAPID Programming
1

Hello.

Could someone have a code in RAPID for finding coordinates x,y,z of a circle center created from 3 points A,B,C in wobj0.

2

Hello,

here is a routine for calculating the center point.
/BR
Micky

!**********************************************************
!* Calculation of the midpoint of circle from three *
!* positions on the circumference of the hole *
!* *
!* The orientation of the midpoint corresponds to *
!* Position p1 *
!**********************************************************
LOCAL FUNC robtarget UTL_cirCntr(
robtarget p1,
robtarget p2,
robtarget p3,
INOUT num Radius)

VAR pos p12;
VAR pos p13;
VAR pos p23;
VAR pos k2;
VAR pos pn12;
VAR pos pn13;
VAR num a;
VAR num b;
VAR num ai;
VAR num bi;
VAR num c;
VAR num d;
VAR num s;
VAR num kl;
VAR robtarget p0;

!
p12:=p2.trans-p1.trans;
p13:=p3.trans-p1.trans;
p23:=p3.trans-p2.trans;
a:=Sqrt(p12.xp12.x+p12.yp12.y+p12.zp12.z);
b:=Sqrt(p13.xp13.x+p13.yp13.y+p13.zp13.z);
c:=Sqrt(p23.xp23.x+p23.yp23.y+p23.zp23.z);
s:=(a+b+c)/2;
ai:=1/a;
bi:=1/b;
Radius:=0.25abc/Sqrt(s*(s-a)(s-b)(s-c));
IF a>b THEN
p23:=p13;
p13:=p12;
p12:=p23;
a:=b;
ENDIF
pn12:=p12ai;
pn13:=p13bi;
k2:=pn12pn13pn12;
kl:=1/Sqrt(k2.xk2.x+k2.yk2.y+k2.zk2.z);
k2:=klk2;
d:=Sqrt(RadiusRadius-aa/4);
p0:=p1;
p0.trans:=p1.trans+0.5p12+dk2;
RETURN p0;
ENDFUNC

3

Thank you very much.

Regards.