Universal Robots UR30 - Page 124

Add additional
waypoints to a
Move or
Waypoint
1. In your Robot Program, select a Move node or Waypoint node.
2. Under Basic, tap Waypoint.
The additional waypoint is added in the Move node. This waypoint is part of the
Move command.
The additional waypoint is added under the waypoint that you selected in the robot
program.
Detail Using a waypoint means applying the taught relationship between the feature and the TCP
from the Move command. The relationship between the feature and the TCP, applied to the
current selected feature, achieves the desired TCP location. The robot calculates how to
position the arm to allow the current active TCP to reach the desired TCP position.
UR30 125 User Manual
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