Universal Robots UR5e - Introduction; Robot Arm Basics

3.1.7. The First Program
Description A program is a list of commands telling the robot what to do. For most tasks,
programming is done entirely using the PolyScope software. PolyScope
allows you to teach the robot arm how to move using a series of waypoints
to set up a path for the robot arm to follow.
Use the Move tab (see3.6. Move Tabon page318) to move the Robot Arm
to a desired position, or teach the position by pulling the Robot Arm into
place while holding down the Freedrive button at the top of the Teach
Pendant.
You can create a program can to send I/O signals to other machines at
certain points in the robot’s path, and perform commands like if…then and
loop, based on variables and I/O signals.
UR5e 115 User Manual
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