Universal Robots UR16e

Move: Use joint
angles
You can use the Use joint angles as an alternative to the 3D pose when
you are using MoveJ to define a waypoint.
Waypoints defined using the Use joint angle are not changed when a
program is moved between robots.
This is useful if you are installing your program in a new robot.
Using Use joint angles makes the TCP option unavailable.
Move: Shared
Parameters in a
Move Command
The shared parameters in the bottom right corner of the Move screen apply
to the movement from the previous position of the robot arm to the first
waypoint under the command, and from there to each of the following
waypoints.
The Move command settings do not apply to the path going from the last
waypoint under that Move command.
7.7.2. Waypoints
Description Waypoints are one of the most central parts of a robot program, telling the
robot arm where to go one movement at a time.
Add Waypoints A waypoint accompanies a Move, so adding a Move is required for the first
waypoint.
UR16e 192 User Manual
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