Universal Robots UR16e

Teaching a plane When you press the plane button to create a new plane, the on-screen
guide assists you creating a plane.
1. Select Origo
2. Move robot to define the direction of the positive x-axis of the plane
3. Move robot to define the direction of the positive y-axis of the plane
The plane is defined using the right hand rule so the z- axis is the cross
product of the x-axis and the y-axis, as illustrated below.
NOTICE
You can re-teach the plane in the opposite direction of the
x-axis, if you want that plane to be normal in the opposite
direction.
Modify an existing plane by selecting Plane and pressing Modify Plane.
You will then use the same guide as for teaching a new plane.
User Manual 311 UR16e
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