Universal Robots UR5e - Page 244

y = 0.01
o = p[0,y,0,0,0,0]
P1_var = pose_trans(P1_var, o)
MoveL # Feature: P1_var
wp1
wp2
wp3
wp4
13.6:Applying an offset to the plane feature
Robot Program
MoveJ
S1
if (digital_input[0]) then
P1_var = P1
else
P1_var = P2
MoveL # Feature: P1_var
wp1
wp2
wp3
wp4
13.7:Switching from one plane feature to another
UR5e 230 User Manual
24.Installation Tab
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