Universal Robots UR5e - Basic Program Nodes; Move

Use Case: Welding
and changing
welding items
If you have a welding procedure, and you need to weld a seam around a
rectangle, you can define the first corner with a fixed waypoint, and then
make the robot and welding tool hit the remaining three corners using
relative waypoints.
The first waypoint will start the welding seam around the rectangle, and the
relative waypoints will finish the remaining corners.
Then if you need to weld something that is still a rectangle, but larger or
smaller, then you can change the distance of the relative waypoints, and
quickly modify the robot program.
UR5e 195 User Manual
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