Universal Robots UR16e

Positions
Line
To teach the positions, select each item in the Program Tree:
•
StartItem1
•
EndItem1
Insert the number of items in your sequence using the Items
text box at the bottom of the screen.
Grid
To teach the positions, select each item in the Program Tree:
•
CornerItem1
•
CornerItem2
•
CornerItem3
•
CornerItem4
Insert the number of rows and columns in the appropriate text
boxes to set the dimensions of the pattern.
Irregular
To teach the positions, select each item in the Program Tree:
•
Item1
•
Item2
•
Item3
Tap Add Item to add and identify a new item in the sequence.
Actions Tool Action
Point
The location and position you want the robot to be in when
conducting an action for each item in a layer. The ToolActionPoint
Waypoint is the ReferencePoint by default, but it can be edited in
the Program Tree by tapping the ToolActionPoint Waypoint node.
When using the wizard, the ReferencePoint is the first position in
the first defined layer on the pallet. The ReferencePoint is used to
teach the robot the Approach Waypoint, ToolActionPoint
Waypoint, and Exit Waypoint for each item in a layer.
Approach The collision-free position and direction you want the robot to take
when approaching an item in a layer.
UR16e 264 User Manual
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