Conditional blend
trajectories
This example is a very situational example, but it shows that the robot program may in a
very rare situations calculate program nodes before execution.
The blend trajectory is affected both by the waypoint where the blend radius is set and
the following one in the program tree.
In this example, the blend around is affected by (WP_1) and (WP_2). The
consequence of this becomes more apparent when blending around (WP_2) in this
example.
There are two possible ending positions and to determine which is the next waypoint to
blend to, the robot must evaluate the current reading of the digital_input[1]
already when entering the blend radius.
That means the if...then expression is evaluated before we actually reach the
destination which is somewhat counter-intuitive when looking at the program sequence.
If a waypoint is a stop point and followed by conditional expressions to determine the
next waypoint (e.g. the I/O command) it is executed when the robot arm has stopped at
the waypoint.(WP_2)
MoveL
WP_I
WP_1 (blend)
WP_2 (blend)
if (digital_input[1]) then
WP_F_1
else
WP_F_2
WP_I
WP_1
WP_2
WP_F_1
WP_F_2
*
33.2:WP_I
is the initial waypoint and there are two potential final waypoints
WP_F_
1
and
WP_F_2
, depending on a conditional expression. The conditional
if
expression is evaluated when the robot arm enters the second blend (*).
UR10e 216 User Manual
Copyright © 2009–2024 by UniversalRobotsA/S. All rights reserved.
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