Universal Robots UR5e - Page 302

Adding a Line 1. In Installation, select Features.
2. Under Features select Line.
Here you can see the axis directed from the first point towards the second
point, constitutes the y-axis of the line coordinate system. The z-axis is
defined by the projection of the z-axis of p1 onto the plane perpendicular to
the line. The position of the line coordinate system is the same as the
position of p1 .
Plane Feature Select the plane feature when you need a frame with high precision: e.g.,
when working with a vision system or doing movements relative to a table.
Adding a plane 1. In Installation, select Features.
2. Under Features select Plane.
User Manual 302 UR5e
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