Example:
Manually
Updating a
Feature to Adjust
a Program
Consider an application where multiple parts of a robot program is relative to a table.
The figure below illustrates the movement through waypoints from wp1 to wp4.
Robot Program
MoveJ
S1
MoveL # Feature: P1_var
wp1
wp2
wp3
wp4
54.1:
Simple program with four waypoints relative to a feature plane manually
updated by changing the feature
54.2:
The application requires the program to be reused for multiple robot installations where
the position of the table varies slightly. The movement relative to the table is identical.
By defining the table position as a feature
P1
in the installation, the program with a
MoveL
command configured relative to the plane can be easily applied on additional
robots by just updating the installation with the actual position of the table.
The concept applies to a number of Features in an application to achieve a flexible
program can solve the same task on many robots even though if other places in the
work space varies between installations.
UR10e 304 User Manual
Copyright © 2009–2024 by UniversalRobotsA/S. All rights reserved.
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