Grid
To teach the positions, select each item in the Program Tree:
•
CornerItem1
•
CornerItem2
•
CornerItem3
•
CornerItem4
Insert the number of rows and columns in the appropriate text boxes
to set the dimensions of the pattern.
Irregular
To teach the positions, select each item in the Program Tree:
•
Item1
•
Item2
•
Item3
Tap Add Item to add and identify a new item in the sequence.
Actions Tool Action
Point
The location and position you want the robot to be in when conducting an
action for each item in a layer. The ToolActionPoint Waypoint is the
ReferencePoint by default, but it can be edited in the Program Tree by
tapping the ToolActionPoint Waypoint node. When using the wizard, the
ReferencePoint is the first position in the first defined layer on the pallet.
The ReferencePoint is used to teach the robot the Approach Waypoint,
ToolActionPoint Waypoint, and Exit Waypoint for each item in a layer.
Approach The collision-free position and direction you want the robot to take when
approaching an item in a layer.
Tool Action The action you want the robot attachment to perform for each item.
UR10e 262 User Manual
Copyright © 2009–2024 by UniversalRobotsA/S. All rights reserved.
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