Command: Variable Waypoint - Universal Robots UR3/CB3 User Manual

14.8 Command: Variable Waypoint

14.8 Command: Variable Waypoint
A waypoint with the position given by a variable, in this case calculated pos. The
variable has to be a pose such as
var=p[0.5,0.0,0.0,3.14,0.0,0.0]. The first three are x,y,z and the last three
are the orientation given as a rotation vector given by the vector rx,ry,rz. The length
of the axis is the angle to be rotated in radians, and the vector itself gives the axis
about which to rotate. The position is always given in relation to a reference frame
or coordinate system, defined by the selected feature. The robot arm always moves
linearly to a variable waypoint. If a blend radius is set on a fixed waypoint and the
waypoints preceding and succeeding it are variable or if the blend radius is set on a
variable waypoint, then the blend radius will not be checked for overlap (see 14.6). If,
when running the program, the blend radius overlaps a point, the robot will ignore it
and move to the next one.
For example, to move the robot 20 mm along the z-axis of the tool:
var_1=p[0,0,0.02,0,0,0]
Movel
Version 3.3.3
Waypoint_1 (variable position):
Use variable=var_1, Feature=Tool
II-81 CB3