Universal Robots UR30 - Page 121

Detail MoveL moves the Tool Center Point (TCP) linearly between waypoints. This means that
each joint performs a more complicated motion to keep the tool on a straight line path. The
shared parameters that can be set for this movement type are the desired tool speed and
tool acceleration specified in mm / s and mm / s
2
, respectively, and also a feature.
Add a MoveL
command
with
Optimove
1. In your Robot Program, select the place where you wish to add a Move.
2. Under Basic, tap Move to add a waypoint to the robot program together with a Move
node.
3. Select the move node.
4. Select MoveL in the drop-down menu.
5. In the program tree, select the newly added MoveL.
6. In the Command pane, under Motion, select OptiMove.
7. Use the slider to set the speed.
8. You can select Scaled acceleration to (what does it do?)
MoveP The MoveP command creates a movement with a constant speed between the waypoints.
Blend between waypoints is enabled to ensure constant speed.
Add a MoveP
command
1. In your Robot Program, select the place where you wish to add a Move.
2. Under Basic, tap Move to add a waypoint to the robot program together with the
Move node.
3. Select the move node.
4. Select the MoveP from the drop-down menu.
Detail MoveP moves the tool linearly with constant speed with circular blends, and is intended for
some process operations, like gluing or dispensing. The size of the blend radius is by
default a shared value between all the waypoints. A smaller value will make the path turn
sharper whereas a higher value will make the path smoother. While the robot arm is moving
through the waypoints with constant speed, the robot control box cannot wait for either an
I/O operation or an operator action. Doing so might stop the robot arm’s motion, or cause a
robot stop.
MoveCircle The MoveCircle command creates a circular movement, by creating a half circle.
You can only add CircleMove via a MoveP command.
Add a
MoveCircle
command
1. In your Robot Program, select the place where you wish to add a Move.
2. Under Basic, tap Move.
A waypoint is added to the robot program together with the Move node.
3. Select the move node.
4. Select the MoveP from the drop-down menu.
5. Tap Add circle move
6. Select the orientation mode.
User Manual 122 UR30
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