Universal Robots UR16e

Manual
Configuration
1. Tap the At Each Item node on the Program Tree.
2. On the At Each Item start screen, tap Manual Configuration.
3. Use the drop-down menus to select a Pattern and a ReferencePoint
item. Tap the Use this ReferencePoint button to set the
ReferencePoint.
4. Move the robot to the ReferencePoint by tapping Move Here.
5. Tap the Approach node in the Program Tree to teach the robot the
Approach Waypoint (see ). The Approach Waypoint remains in the
same orientation and direction regardless of the different items’
orientation.
6. Tap the At Each Item node in the Program Tree. Repeat Step 4.
7. Tap the Exit node in the Program Tree to teach the robot the Exit
Waypoint (see ).
8. You can now add appropriate gripper action nodes in the Tool Action
folder in the Program Tree.
User Manual 261 UR16e
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