Universal Robots UR16e

Example: Manually
Updating a Feature
to Adjust a Program
Consider an application where multiple parts of a robot program is relative
to a table. The figure below illustrates the movement through waypoints
from wp1 to wp4.
Robot Program
MoveJ
S1
MoveL # Feature: P1_var
wp1
wp2
wp3
wp4
54.1: Simple program with four waypoints relative to a feature plane
manually updated by changing the feature
54.2:
The application requires the program to be reused for multiple robot
installations where the position of the table varies slightly. The movement
relative to the table is identical. By defining the table position as a feature
P1 in the installation, the program with a MoveL command configured
relative to the plane can be easily applied on additional robots by just
updating the installation with the actual position of the table.
The concept applies to a number of Features in an application to achieve a
flexible program can solve the same task on many robots even though if
other places in the work space varies between installations.
UR16e 312 User Manual
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