13.6 Command: Fixed Waypoint
13.6 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 given 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 po-
sition 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 com-
mand, in order for this button to be pressable.
Waypoint names
Waypoint names can be changed. Two waypoints with the same name is always the
same waypoint. Waypoints are numbered as they are specified.
Blend radius
If a blend radius is set, the robot arm trajectory blends around the waypoint, allowing
the robot arm not to stop at the point. Blends cannot overlap, so it is not possible to
set a blend radius that overlaps a blend radius for a previous or following waypont.
A stop point is a waypoint with a blend radius of 0.0mm.
Version 3.1 (rev. 17782)
Copyright © 2009-2015 by Universal Robots A/S. All rights reserved.
II-53 CB3
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