A waypoint with the position given relative to the robot arm’s previous position, such as “two
centimeters to the left”. The relative position is defined as the difference between the two given
positions (left to right).
Note: repeated relative positions can move the robot arm out of its workspace.
The distance here is the Cartesian distance between the TCP in the two positions. The angle states
how much the TCP orientation changes between the two positions. More precisely, the length of
the rotation vector describing the change in orientation.
23.11.4. Variable Waypoint
A waypoint with the position given by a variable, in this case calculated_pos. The variable has to be
a pose such as
var=p[0.5,0.0,0.0,3.14,0.0,0.0]. The first three are x,y,z and the last three are the orientation given as
a rotation vector given by the vector rx,ry,rz. The length of the axis is the angle to be rotated in
radians, and the vector itself gives the axis about which to rotate. The position is always given in
relation to a reference frame or coordinate system, defined by the selected feature. If a blend
radius is set on a fixed waypoint and the waypoints preceding and succeeding it are variable or if
the blend radius is set on a variable waypoint, then the blend radius will not be checked for overlap
(see Blend parameterson page157). If, when running the program, the blend radius overlaps a
point, the robot will ignore it and move to the next one.
For example, to move the robot 20mm along the z-axis of the tool:
var_1=p[0,0,0.02,0,0,0]
Movel
Waypoint_1 (variable position):
Use variable=var_1, Feature=Tool
User Manual 161 UR5e
23.Program Tab
Copyright © 2009–2021 by UniversalRobotsA/S. All rights reserved.
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