Universal Robots UR16e

Add a Direction
movement to a robot
program
1. In your robot program, select the place or node where you wish to
add a Direction command.
2. Under Basic, tap Direction to add a linear movement to your
Program Tree.
3. In the Direction field, under Feature, define the linear movement.
a. Select if you use the shared feature
or the Base/Tool
b. Select the cartesian direction from the Direction drop-down
or write the Direction vector manually
c. Select Shared parameters or define the tool speed and
acceleration.
4. Click Add Until to add a method of stopping the directional
movement.
User Manual 221 UR16e
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