13.5 Command: Move
path. The shared parameters that can be set for this movement type are the de-
sired tool speed and tool acceleration specified in mm/s and mm/s
2
, respectively,
and also a feature. The selected feature will determine in which feature space the
tool positions of the waypoints are represented in. Of specific interest concerning
feature spaces are variable features and variable waypoints. Variable features can
be used when the tool position of a waypoint need to be determined by the actual
value of the variable feature when the robot program runs.
• moveP will move the tool linearly with constant speed with circular blends, and
is intended for some process operations, like gluing or dispensing. The size of the
blend radius is by default a shared value between all the waypoints. A smaller
value will make the path turn sharper whereas a higher value will make the path
smoother. While the robot arm is moving through the waypoints with constant
speed, the robot control box cannot wait for either an I/O operation or an oper-
ator action. Doing so might stop the robot arm’s motion, or cause a protective
stop.
A Circle Move can be added to a moveP command, consisting of two waypoints:
the first one specifying a via point on the circular arc, and the second one being
the endpoint of the movement. The robot will start the circle movement from
its current position, and then move through the two specified waypoints. The
orientation change of the tool through the circle move is determined only by the
starting orientation and the orientation at the endpoint, so the orientation of the
via point does not influence the circle move. A Circle Move must always be
preceeded by a waypoint under the same moveP.
Shared parameters
The shared parameters in the bottom right corner of the Move screen apply to the
movement from the previous position of the robot arm to the first waypoint under
the command, and from there to each of the following waypoints. The Move com-
mand settings do not apply to the path going from the last waypoint under that Move
command.
Recalculate motions
Tick this check box if the positions within this move command should be adjusted
based on the active TCP.
TCP selection
The TCP used for the waypoints under this Move command can be selected by ticking
the check box and selecting a TCP from the drop-down menu. The selected TCP is
then set as active each time the robot arm moves to one of the Waypoints under this
Move command. If the check box is not ticked, then the active TCP is not modified
in any way. If the active TCP for this motion is determined during runtime of the
program, it needs to be set dynamically using the Set command (see 13.10) or by using
script commands. For further information about configuring named TCPs, see 12.6.
Version 3.1 (rev. 17782)
Copyright © 2009-2015 by Universal Robots A/S. All rights reserved.
II-51 CB3
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