14.8 Command: Direction
14.7 Command: Variable Waypoint
A waypoint with the position given by a variable, in this case calculated pos. The variable
has to be a pose such as
var=p[0.5,0.0,0.0,3.14,0.0,0.0]. The first three are x,y,z and the last three are the
orientation given as a rotation vector given by the vector rx,ry,rz. The length of the axis is the
angle to be rotated in radians, and the vector itself gives the axis about which to rotate. The
position is always given in relation to a reference frame or coordinate system, defined by the
selected feature. If a blend radius is set on a fixed waypoint and the waypoints preceding and
succeeding it are variable or if the blend radius is set on a variable waypoint, then the blend
radius will not be checked for overlap (see 14.5). If, when running the program, the blend
radius overlaps a point, the robot will ignore it and move to the next one.
For example, to move the robot 20 mm along the z-axis of the tool:
var_1=p[0,0,0.02,0,0,0]
Movel
Waypoint_1 (variable position):
Use variable=var_1, Feature=Tool
14.8 Command: Direction
The program node Direction specifies a motion relative to feature axes or TCPs. The robot moves
in along the path specified by the Direction Program Node until that movement is stopped by
an Until condition. You must have Until conditions for stopping a direction movement, tap the
Add Until button to define the stop criteria.
e-Series II-78 Version 3.11
Copyright © 2009–2019 by Universal Robots A/S. All rights reserved.
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