Universal Robots E Series - Example: Manually Updating a Feature to Adjust a Program

NOTE
You can re-teach the plane in the opposite direction of the x-axis, if you want that
plane to be normal in the opposite direction.
Modify an existing plane by selecting Plane and pressing Modify Plane. You will then use the same
guide as for teaching a new plane.
24.17.6. Example: Manually Updating a Feature to Adjust a Program
Consider an application where multiple parts of a robot program is relative to a table. Figure 13.4
illustrates the movement from waypoints wp1 through wp4.
Robot Program
MoveJ
S1
MoveL # Feature: P1_var
wp1
wp2
wp3
wp4
UR5e 228 User Manual
24.Installation Tab
Copyright © 2009–2021 by UniversalRobotsA/S. All rights reserved.