How to move a industrial robot following a given-radius circle?

Hi,all,

I know there is a MOVEC command in VAL3 language(Staubli robotics), and when move robot to go cirlces, three point must be taught,but the routine the robot move may not the exactly circle.

Is there any special way to move industrail robot following a given- radius circle? For example, if there is a circle whose radius is

Thank you! Bruce