Add a relative
waypoint to a
robot program
1. In the Program tab, select the Basic menu
2. Tap Waypoint
a. Notice the selector is automatically set to Fixed position
b. Change the waypoint to Relative position.
3. Set the first waypoint (from point...)
4. Set the second waypoint (...to point)
Detail The movement between two relative waypoints is always the shortest path for the robot
depending on the move type.
The distance for relative waypoints refers to the Cartesian distance between the TCP in
the two positions. The angle states how much the TCP orientation changes between
the two positions, or more precisely, the length of the rotation vector describing the
change in orientation.
It does not matter where the relative waypoint position was located around the robot,
before the program moved into the relative waypoint.
As soon as PolyScope moves to the relative waypoint in the program tree, the robot
moves from its current position, to the distance and in the direction the relative waypoint
has saved.
Repeated relative positions can move the robot arm out of its workspace.
Use Case:
Welding and
changing welding
items
If you have a welding procedure, and you need to weld a seam around a rectangle, you
can define the first corner with a fixed waypoint, and then make the robot and welding
tool hit the remaining three corners using relative waypoints.
The first waypoint will start the welding seam around the rectangle, and the relative
waypoints will finish the remaining corners.
Then if you need to weld something that is still a rectangle, but larger or smaller, then
you can change the distance of the relative waypoints, and quickly modify the robot
program.
UR10e 208 User Manual
Copyright © 2009–2024 by UniversalRobotsA/S. All rights reserved.
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