Universal Robots UR16e

Steps Please see the link Add Untilon page215 for step by step instructions.
Fixed Waypoint
Description A fixed waypoint is the standard waypoint used in PolyScope.
It is a fixed location, relative to a set coordinate system (the robot’s base by
default), that the robot will move back to when prompted.
A fixed position waypoint is taught by physically moving the robot arm to the
position. You can move the robot with the 4.4. Freedriveon page116 or
with the 9.Move Tabon page327 in PolyScope.
When to use:
•
If the robot must move to a specific location (to move around
equipment or move to a specific location for operation like picking or
placing).
•
When you create an entire robot program using fixed waypoints
relative to a location, i.e. relative to the robot base. You can move the
robot, and redefine the location of base of the robot, then the robot
program will work on the new location.
When NOTto use:
•
When you want the location of the waypoint to be dynamic. Fixed
waypoints are static positions and only change when purposely
updated or when they’re relative to a coordinate system.
UR16e 198 User Manual
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