Universal Robots UR10e

Teaching a plane When you press the plane button to create a new plane, the on-screen guide assists
you creating a plane.
1. Select Origo
2. Move robot to define the direction of the positive x-axis of the plane
3. Move robot to define the direction of the positive y-axis of the plane
The plane is defined using the right hand rule so the z- axis is the cross product of the x-
axis and the y-axis, as illustrated below.
NOTICE
You can re-teach the plane in the opposite direction of the x-axis, if
you want that plane to be normal in the opposite direction.
Modify an existing plane by selecting Plane and pressing Modify Plane. You will then
use the same guide as for teaching a new plane.
User Manual 303 UR10e
Copyright © 2009–2024 by UniversalRobotsA/S. All rights reserved.