Universal Robots UR3e

Example:
Dynamically
Updating a
Feature Pose
Consider a similar application where the robot must move in a specific pattern on top of
a table to solve a particular task.
A MoveL command with four waypoints relative to a plane feature
Robot Program
MoveJ
wp1
y = 0.01
o = p[0,y,0,0,0,0]
P1_var = pose_trans(P1_var, o)
MoveL # Feature: P1_var
wp1
wp2
wp3
wp4
53.3: Applying an offset to the plane feature
53.4:
Robot Program
MoveJ
S1
if (digital_input[0]) then
P1_var = P1
else
P1_var = P2
MoveL # Feature: P1_var
wp1
wp2
wp3
wp4
53.5: Switching from one plane feature to another
53.6:
The movement relative to P1 is repeated a number of times, each time by an offset o . In
this example the offset is set to 10 cm in the Y-direction, offsets O1 and O2 ). This is
achieved using pose_add() or pose_trans() script functions to manipulate the variable.
It is possible to switch to a different feature while the program is running instead of
adding an offset. This is shown in the example. See the figure where the reference
feature for the MoveL command P1_var can switch between two planes P1 and P2 .
UR3e 302 User Manual
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