13.12 Installation → Features
Teaching a plane
When you press the plane button to create a new plane, the on-screen guide assists you creating
a plane.
1. Select Origo
2. Move robot to define the direction of the positive x-axis of the plane
3. Move robot to define the direction of the positive y-axis of the plane
The plane is defined using the right hand rule so the z- axis is the cross product of the x-axis
and the y-axis, as illustrated below.
NOTE:
You can re-teach the plane in the opposite direction of the x-axis, if
you want that plane to be normal in the opposite direction.
Modify an existing plane by selecting Plane and pressing Modify Plane. You will then use the
same guide as for teaching a new plane.
13.12.5 Example: Manually Updating a Feature to Adjust a Program
Consider an application where multiple parts of a robot program is relative to a table. Figure
13.4 illustrates the movement from waypoints wp1 through wp4.
Robot Program
MoveJ
S1
MoveL # Feature: P1_var
wp1
wp2
wp3
wp4
Figure 13.4: Simple program with four waypoints relative to a feature plane manually updated by
changing the feature
Version 3.11
Copyright © 2009–2019 by Universal Robots A/S. All rights reserved.
II-55 e-Series
To Next Page
Loading...
