To add a fixed waypoint to a robot program
1. In the Program tab, tap Basic.
2. Add a move command
3. Select the automatically generated waypoint
a. Notice the selector is automatically set to
4.
Tap to access the Move tab
5. Set the waypoint
6.
Tap the check mark to save the waypoint and return to the Program tab
Example When you are removing a work piece from a chuck in a machine tending application,
make the waypoint a fixed position to avoid any contact with equipment.
1
Set Fixed Waypoint
Description Setting a fixed waypoint means that you move the robot arm to the position of the
specific waypoint that you want to set. Then the waypoint is "set" in the robot program
as a position in the overall movement of the robot arm.
You can use the freedrive mode, or you can move the robot arm with the manual
controls in the Move tab. See: 19.7.1 Moveon page195
1
In machine tending, the chuck holds the tool performing work on a workpiece. For example, the chuck is the
part of a drill that attaches to the drill bit.
User Manual 205 UR10e
Copyright © 2009–2024 by UniversalRobotsA/S. All rights reserved.
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