Universal Robots UR3e

To Next Page

To Previous Page

Configuring a

Toolpath Node

1. Access the Program Tab and tap URCaps.

2. Select a TCP and set the motion parameters: tool speed, tool acceleration and

blend radius. Select Spin tool freely around its Z-axis. Do not select if the tool

must follow the orientation around Z-axis defined in the toolpath file.

3. Tap +Toolpath to insert a Toolpath node.

4. In the drop-down menu, select a toolpath file and the corresponding PCS (Plane

Feature).

5. Adjust the motion parameters if different values are to be applied to the Toolpath

node.

6. Tap Move to First Point to verify the tool can move to the first point of the

toolpath.

7. Run the program in the simulation mode, at a low speed, to confirm the

configurations are correct.

NOTICE

You can ensure the robot motion is identical, each time the toolpath is

executed, by adding a MoveJ with a Use Joint Angles set to move to

a fixed joint configuration before executing the toolpath. See 19.7.1

Moveon page191

User Manual 273 UR3e

Other manuals for Universal Robots UR3e