14.5 Command: Fixed Waypoint
14.5 Command: Fixed Waypoint
A point on the robot path. Waypoints are the most central part of a robot program, telling the
robot arm where to be. A fixed position waypoint is taught by physically moving the robot arm
to the position.
Setting the waypoint
Press this button to enter the Move screen where you can specify the robot arm’s position for this
waypoint. If the waypoint is placed under a Move command in linear space (moveL or moveP),
there needs to be a valid feature selected at that Move command, in order for this button to be
pressable.
Waypoint names
Waypoints automatically get a unique name. The name can be changed by the user. By selecting
the link icon, waypoints are linked and share position information. Other waypoint information
such as blend radius, tool/joint speed and tool/joint acceleration is configured for individual
waypoints even though they may be linked.
Blending
Blending enables the robot to smoothly transition between two trajectories, without stopping at
the waypoint between them.
Example Consider a pick and place application as an example (see figure 14.2), where
the robot is currently at Waypoint 1 (WP 1), and it needs to pick up an object at Waypoint 3
(WP 3). To avoid collisions with the object and other obstacles (O), the robot must approach
e-Series II-72 Version 3.11
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