Universal Robots E Series Original Instructions

13.4:Simple program with four waypoints relative to a feature plane manually updated by
changing the feature
The application requires the program to be reused for multiple robot installations where the
position of the table varies slightly. The movement relative to the table is identical. By defining the
table position as a feature P1 in the installation, the program with a MoveL command configured
relative to the plane can be easily applied on additional robots by just updating the installation with
the actual position of the table.
The concept applies to a number of Features in an application to achieve a flexible program can
solve the same task on many robots even though if other places in the work space varies between
installations.
24.17.7. Example: Dynamically Updating a Feature Pose
Consider a similar application where the robot must move in a specific pattern on top of a table to
solve a particular task (see 13.5).
13.5:A MoveL command with four waypoints relative to a plane feature
Robot Program
MoveJ
wp1
User Manual 229 UR5e
24.Installation Tab
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Universal Robots E Series Specifications

General

Brand	Universal Robots
Model	E Series
Category	Robotics
Language	English