14.5 Command: Move
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 way-
points. 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 ei-
ther an I/O operation or an operator 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 way-
points: the first one specifying a via point on the circular arc, and the sec-
ond 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 de-
termined 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 un-
der the command, and from there to each of the following waypoints. The Move
command settings do not apply to the path going from the last waypoint under that
Move command.
TCP selection
The TCP used for the waypoints under this Move command can be selected from
the drop-down menu. It is possible to select from user defined TCPs from the instal-
lation, the active TCP or simply using the tool flange. If a user defined TCP or the
active TCP is selected, the motion under this Move command will adjusted be with
respect to this. If Use Tool Flange is selected, no TCP is used and the motion under
this Move command will be with respect to the tool flange (i.e. no adjustments to
the motion).
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 14.10) or by using script
commands. For further information about configuring named TCPs, see 13.6.
Feature selection
For MoveL and MoveP, it is possible to select which feature space the waypoints
under the Move command should be represented when specifying these waypoints
(see section 13.12). This means that when setting a waypoint, the program will
remember the tool coordinates in the feature space of the selected feature. There
are a few circumstances that need detailed explanation:
Relative waypoints: The selected feature has no effect on relative waypoints. The
relative movement is always performed w.r.t. to orientation of the Base.
Version 3.4.5
Copyright © 2009–2017 by Universal Robots A/S. All rights reserved.
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