Universal Robots UR5e - Service Tools

Variable Waypoint
Description A variable waypoint moves to a position determined by a variable in
PolyScope.
The variable must be in the pose URScript format, p[x, y, z, rx, ry, rz],
allowing a single waypoint in the Program Tree to be updated by changing
the X, Y, Z, RX, RY, or RZ value without manually resetting the waypoint.
When to use:
•
If combined with scripting elements.
•
When receiving data from external devices for positioning like
cameras, etc.
When not to use:
•
When a specific location must be reached repeatably.
•
If you are not using variables or external devices.
•
If a waypoint must be moved manually, or redefined by either jogging
or freedrive.
Add a variable
waypoint
Add a variable waypoint that can be modified during run through of the
robot program.
User Manual 196 UR5e
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