Linking
Waypoints
By selecting the link icon, waypoints are linked and share position information.
Detail Other waypoint information such as blend radius, tool/joint speed and tool/joint
acceleration is configured for individual waypoints even though they may be linked.
Stop at this point You configure the robot program to stop at this waypoint. The robot will decelerate
moving towards this point and continue to the next waypoint.
Use Stop at this
point
1. Select the waypoint you wish to modify
2.
On the right side of the screen, select
Tip This is useful to make the robot move to an exact position.
Use case When you wish to move the robot away from a welding or machine tending application.
Blend with radius You can add a blend radius for blending the robot arm's movement between waypoints.
See this link for an in-depth description of blending.
Use Blend with
radius
When you add a blend to a waypoint, the transition between waypoints becomes more
fluid and efficient. This will make the robot arm move more smoothly, but it is not
applicable in every robot arm movement.
1. Select the waypoint you wish to modify
2.
On the right side of the screen, select
3. Add a number [mm] to define the blend radius
4. Tap Submit to save the number
Tip If you are using multiple waypoints to guide the transition between two points you can
blend the waypoints in between to make the overall movement smoother and more
efficient.
Use Shared
Parameters
This is the default setting for the waypoint.
The settings are copied from the parent Move command.
Use case This is used when the joint speed and joint acceleration is NOT changed in the parent
Move command.
UR10e 202 User Manual
Copyright © 2009–2024 by UniversalRobotsA/S. All rights reserved.
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