To create a simple
program
1. On PolyScope, in the Header File Path, tap New... and select
Program.
2. Under Basic, tap Waypoint to add a waypoint to the program tree. A
default MoveJ is also added to the program tree.
3. Select the new waypoint and in the Command tab, tap Waypoint.
4. On the Move Tool screen, move the robot arm by pressing the move
arrows.
You can also move the robot arm by holding down the Freedrive
button and pulling the Robot Arm into desired positions.
5. Once the robot arm is in position, press OK and the new waypoint
displays as Waypoint_1.
6. Follow steps 2 to 5 to create Waypoint_2.
7. Select Waypoint_2 and press the Move Up arrow until it is above
Waypoint_1 to change the order of the movements.
8. Stand clear, hold on to the emergency stop button and in the
PolyScope Footer, press Play button for the Robot Arm to move
between Waypoint_1 and Waypoint_2.
Congratulations! You have now produced your first robot program
that moves the Robot Arm between the two given waypoints.
NOTICE
1. Do not drive the robot into itself or anything else as
this may cause damage to the robot.
2. This is only a quick start guide to show how easy it is
to use a UR robot. It assumes a harmless
environment and a very careful user. Do not
increase the speed or acceleration above the default
values. Always conduct a risk assessment before
placing the robot into operation.
WARNING
Keep your head and torso outside the reach (workspace)
of the robot. Do not place fingers where they can be
caught.
User Manual 125 UR16e
Copyright © 2009–2024 by UniversalRobotsA/S. All rights reserved.
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