Universal Robots UR3/CB3 User Manual page 138

ammount of time to do this, even for a person skilled in the art of robot programming
and installation. Often this task involves the calculation of 4x4 matrices. Particularly,
the representation of orientation is complicated for a person that lacks the required
experience to understand this problem.
Questions often asked by customers are for instance:
The meaning of such and similar questions is very straightforward to an average cus-
tomer who intends to use a robot arm for instance at various stations in a production
plant, and it may seem annoying and incomprehensible to the customer to be told that
there may not be a simple answer to such relevant questions. There are several compli-
cated reasons for this being the case, and in order to address these problems, Universal
Robots has developed unique and simple ways for a customer to specify the location
of various objects relative to the robot arm. Within a few steps, it is therefore possible
to do exactly what was asked for in the above questions.
Rename
This button makes it possible to rename a feature.
Delete
This button deletes the selected feature and, if any, all sub-features.
Show Axes
Choose whether the coordinate axes of the selected feature shall be visible on the 3D
graphics. The choice applies on this screen and on the Move screen.
Joggable
Select whether the selected feature shall be joggable. This determines whether the
feature will appear in the feature menu on the Move screen.
Variable
Select whether the selected feature can be used as a variable. If this option is selected
a variable named the name of the feature suceeded by " var" will then be available
when editing robot programs, and this variable can be assigned a new value in a pro-
gram, which can then be used to control waypoints that depend on the value of a
feature.
CB3
• Will it be possible to move the robot 4 cm away from the claw of my computerised
numerically controlled (CNC) machine?
• Is it possible to rotate the tool of the robot 45 degrees relative to the table?
• Can we make the robot arm move vertically downwards with the object, let the
object loose, and then move the robot arm vertically upward again?
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13.12 Installation Features
Version 3.3.3