I did some tests with following results:
Working:
XYZ cartesian with 3D circle
XYZ cartesian with 2D circle
XY cartesian with 2D circle
Not working:
XY cartesian with 3D circle
I added my test program here so you can open it.
In short: For commanding an 2D kinematic an 2D circle commands needs to be used. In long: A 3D circle is not possible to use with a 2D kinematic, as the calculations are done 3-dimensional and so 3 coordinates are expected, but the transformation is not supporting 3 dimensions so only 2 coordinates are useable.
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