Universal Robots UR5e - Page 217

6. Tap Move to First Point to verify the tool can move to the first point of the toolpath.
7. Run the program in the simulation mode, at a low speed, to confirm the
configurations are correct.
NOTE
You can ensure the robot motion is identical, each time the toolpath is
executed, by adding a MoveJ with a Use Joint Angles set to move to a
fixed joint configuration before executing the toolpath. See 23.11.1.
Moveon page152
User Manual 203 UR5e
23.Program Tab
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