Universal Robots UR16e

Feature and Tool
Position
The active TCP and coordinate values of the selected feature are
displayed. The X, Y, Z coordinates specify tool position. The RX, RY, RZ
coordinates specify orientation. For further information about configuring
several named TCPs, see 8.1. TCP Configurationon page281.
Use the drop down menu above the RX, RY and RZ boxes to choose the
orientation representation type:
•
Rotation Vector [rad] The orientation is given as a rotation vector .
The length of the axis is the angle to be rotated in radians, and the
vector itself gives the axis about which to rotate. This is the default
setting.
•
Rotation Vector [
∘
] The orientation is given as a rotation vector ,
where the length of the vector is the angle to be rotated in degrees.
•
RPY [rad] Roll , pitch and yaw ( RPY ) angles, where the angles are
in radians. The RPY-rotation matrix (X, Y’, Z” rotation) is given by:
Rrpy ( γ , β , α ) = RZ ( α ) ⋅ RY ( β ) ⋅ RX ( γ )
•
RPY [
∘
] Roll , pitch and yaw ( RPY ) angles, where angles are in
degrees.
You can tap the values to edit the coordinates. You can also tap the + or -
buttons to the right of a box to add/subtract an amount to/from the current
value. Or you can hold down a button to directly increase/decrease the
value.
Joint Positions Individual joint positions are specified directly. Each joint position can have
Joint Limit range from − 360
∘
to + 360
∘
. You can configure Joint Positions
as follows:
•
Tap the joint position to edit the values.
•
Tap the + or - buttons to the right of a box to add or subtract an
amount to/from the current value.
•
Hold down a button to directly increase/decrease the value.
OK Button If you activate this screen from the Move screen (see), tap the OK button
to return to the Move screen. The Robot Arm moves to the specified target.
If the last specified value was a tool coordinate, the Robot Arm moves to
the target position using movement type MoveL; or it uses movement type
MoveJ if a joint position was specified last.
Cancel Button The Cancel button exits the screen discarding all changes.
User Manual 331 UR16e
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