Universal Robots UR16e

MoveP The MoveP command creates a movement with a constant speed between
the waypoints.
Blend between waypoints is enabled to ensure constant speed. (See
Blendingon page206).
Add a MoveP
command
1. In your Robot Program, select the place where you wish to add a
Move.
2. Under Basic, tap Move to add a waypoint to the robot program
together with the Move node.
3. Select the move node.
4. Select the MoveP from the drop-down menu.
Detail MoveP moves the tool linearly with constant speed with circular blends,
and is intended for some process operations, like gluing or dispensing. The
size of the blend radius is by default a shared value between all the
waypoints. A smaller value will make the path turn sharper whereas a
higher value will make the path smoother. While the robot arm is moving
through the waypoints with constant speed, the robot control box cannot
wait for either an I/O operation or an operator action. Doing so might stop
the robot arm’s motion, or cause a robot stop.
MoveCircle The MoveCircle command creates a circular movement, by creating a half
circle.
You can only add CircleMove via a MoveP command.
Add a MoveCircle
command
1. In your Robot Program, select the place where you wish to add a
Move.
2. Under Basic, tap Move.
A waypoint is added to the robot program together with the Move
node.
3. Select the move node.
4. Select the MoveP from the drop-down menu.
5. Tap Add circle move
6. Select the orientation mode.
User Manual 189 UR16e
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