Command: Pattern - Universal Robots UR3/CB3 User Manual

14.23 Command: Pattern

14.23 Command: Pattern
The Pattern command can be used to cycle through positions in the robot program.
The pattern command corresponds to one position at each execution.
A pattern can be given as one of four types. The first three, "Line", "Square" or "Box"
can be used for positions in a regular pattern. The regular patterns are defined by a
number of characteristic points, where the points define the edges of the pattern. For
"Line" this is the two end points, for "Square" this is three of the four corner points,
where as for "Box" this is four of the eight corner points. The programmer enters the
number of positions along each of the edges of the pattern. The robot controller then
calculates the individual pattern positions by proportionally adding the edge vectors
together.
If the positions to be traversed do not fall in a regular pattern, the "List" option can be
chosen, where a list of all the positions is provided by the programmer. This way any
kind of arrangement of the positions can be realized.
Defining the Pattern
When the "Box" pattern is selected, the screen changes to what is shown below.
Version 3.3.3 II-97 CB3