text: <s>[INST] Circular Interpolation with L30ERM? Summary: Is it possible to create a circular motion with an L30ERM (or less?) CPU and a Kinetics? [/INST] Yes. There are some native instructions inside Logix5000 to do this. Take a look at the Motion Coordinated instructions: MCS MCLM MCCM MCCD MCSD etc. Look in the logix5000 help file for multi-axis coordinated motion instructions. \\n </s>