Universal Robots UR3/CB3 User Manual page 160

Figure 14.3: Blend over WP 2 with radius r, initial blend position at p1 and final blend position at p2. O is
an obstacle.
If a blend radius is set, the robot arm trajectory blends around the waypoint, allowing
the robot arm not to stop at the point.
Blends cannot overlap, so it is not possible to set a blend radius that overlaps with the
blend radius of a previous or following waypoint as shown in figure 14.4.
CB3
• the trajectory types to blend from and to (MoveL, MoveJ)
WP_1
O
WP_1
WP_4
Figure 14.4: Blend radius overlap not allowed (*).
14.6 Command: Fixed Waypoint
r
WP_2
p1
p2
WP_3
WP_2
*
WP_3
II-76 Version 3.3.3