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configure with high precision.

For more on adding features, see (sections:on the facing page), (on page144) and (Plane

Featureon page144).

Using a feature

You can refer to a feature defined the installation from the robot program, to relate robot

movements (e.g. MoveL and MoveP commands) to the feature (see section 1.24.4. Command:

Moveon page161).

This allows for easy adaptation of a robot program when for example: there are multiple robot

stations, when an object is moved during program runtime, or when an object is permanently

moved in the scene. Adjusting the feature of an object, adjusts all program movements relative

to the object accordingly. For further examples, see (sections Example: Manually Updating a

Feature to Adjust a Programon page145) and (Example: Dynamically Updating a Feature

Poseon page146). Features configured as joggable are also useful tools when manually moving

the robot in the Move Tab (section 1.23. Robot Controlon page121) or the Pose Editor screen

(see 1.22.2. Pose Editor Screenon page117). When a feature is chosen as a reference, the Move

Tool buttons for translation and rotation operate in the selected feature space (see Feature and

Tool Positionon page122) and (Move Toolon page122), reading of the TCP coordinates. For

example, if a table is defined as a feature and is chosen as a reference in the Move Tab, the

translation arrows (i.e., up/down, left/right, forward/backward) move the robot in these directions

relative to the table. Additionally, the TCP coordinates will be in the frame of the table.

Rename

This button renames a feature.

Delete

This button deletes a selected feature and any of its sub-features.

Show Axes

Choose whether the coordinate axes of the selected feature should be visible on the 3D graphics.

The choice applies on this screen and on the Move screen.

Changing the point

Use the Change this point button to set or change the selected feature. The Move tab (section

1.23. Robot Controlon page121) appears and a new feature position can be set.

Joggable

Choose whether the selected feature should be joggable. This determines whether the feature

will appear in the feature menu on the Move screen.

UR10 142 User Manual

Universal Robots UR10/CB3 User Manual

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