Universal Robots UR3/CB3 User Manual page 110

robot arm to a certain position, use either the Move tab (see 13.1), or simply pull the
robot arm into place while holding the Freedrive button at the back side of the teach
pendant.
Besides moving through waypoints, the program can send I/O signals to other ma-
chines at certain points in the robot's path, and perform commands like if...then
and loop, based on variables and I/O signals.
To create a simple program on a robot that has been started up, do the following:
1. Touch the Program Robot button and select Empty Program.
2. Touch the Next button (bottom right) so that the <empty> line is selected in the
3. Go to the Structure tab.
4. Touch the Move button.
5. Go to the Command tab.
6. Press the Next button, to go to the Waypoint settings.
7. Press the Set this waypoint button next to the "?" picture.
8. On the Move screen, move the robot by pressing the various blue arrows, or move
9. Press OK.
10. Press Add waypoint before.
11. Press the Set this waypoint button next to the "?" picture.
12. On the Move screen, move the robot by pressing the various blue arrows, or move
13. Press OK.
14. Your program is ready. The robot will move between the two points when you
15. Congratulations! You have now produced your first robot program that moves
CB3
tree structure on the left side of the screen.
the robot by holding the Freedrive button, placed on the backside of the teach
pendant, while pulling the robot arm.
the robot by holding the Freedrive button while pulling the robot arm.
press the "Play" symbol. Stand clear, hold on to the emergency stop button and
press "Play".
the robot between the two given waypoints.
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11.2 Getting Started
Version 3.3.3