Universal Robots UR e Series User Manual

Add a MoveJ
command
1. In your robot program, select the place where you wish to add a Move.
2. Under Basic, tap Move to add a waypoint to the robot program together with a
Move node.
3. Select the move node.
4. Select the MoveJ in the drop-down menu.
Detail MoveJ makes movements that are calculated in the robot arm joint space. Joints are
controlled to finish their movements at the same time. This movement type results in a
curved path for the tool to follow. The shared parameters that apply to this movement
type are the maximum joint speed and joint acceleration, specified in deg / s and deg / s
2
,
respectively. If it is desired to have the robot arm move fast between waypoints,
disregarding the path of the tool between those waypoints, this movement type is the
preferable choice.
MoveL The MoveL command creates a movement that is a direct line from point A and point B.
Add a MoveL
command
1. In your Robot Program, select the place where you wish to add a Move.
2. Under Basic, tap Move to add a waypoint to the robot program together with a
Move node.
3. Select the move node.
4. Select the MoveL from the drop-down menu.
Detail MoveL moves the Tool Center Point (TCP) linearly between waypoints. This means that
each joint performs a more complicated motion to keep the tool on a straight line path.
The shared parameters that can be set for this movement type are the desired tool
speed and tool acceleration specified in mm / s and mm / s
2
, respectively, and also a
feature.
MoveP The MoveP command creates a movement with a constant speed between the
waypoints.
Blend between waypoints is enabled to ensure constant speed. (See Blendingon
page210).
Add a MoveP
command
1. In your Robot Program, select the place where you wish to add a Move.
2. Under Basic, tap Move to add a waypoint to the robot program together with the
Move node.
3. Select the move node.
4. Select the MoveP from the drop-down menu.
UR10e 196 User Manual
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Universal Robots UR e Series Specifications

General

Brand	Universal Robots
Model	UR e Series
Category	Robotics
Language	English