Add a Direction
movement to a
robot program
1. In your robot program, select the place or node where you wish to add a
Direction command.
2. Under Basic, tap Direction to add a linear movement to your Program Tree.
3. In the Direction field, under Feature, define the linear movement.
a.
Select if you use the shared feature
or the Base/Tool
b. Select the cartesian direction from the Direction drop-down
or write the Direction vector manually
c. Select Shared parameters or define the tool speed and acceleration.
4. Click Add Until to add a method of stopping the directional movement.
Select the feature
and direction
Difference between Shared Feature or BASE/TOOL
Difference between Direction and writing the Direction Vector
The Direction Vectors define a custom code expression that is resolved to a unit vector.
Direction
Movement
There are different ways to stop direction movement.
User Manual 223 UR10e
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