Universal Robots UR5 User Manual page 135

13.12 Installation Features
the feature (see section 14.5). This allows for easy adaptation of a robot program,
e.g. when having multiple robot stations or when an object is dynamically moved
during program runtime or permanently moved in the scene. By simply adjusting
the referenced feature of a particular object, all movements of the program that
should be relative to the object is moved accordingly. Examples of this are found in
sections 13.12.5 and 13.12.6.
Features configured as joggable are also a useful tool when manually moving the
robot in the Move tab (section 13.1) or the Pose Editor screen (section 12.2). When a
feature is chosen as a reference frame, the Move Tool buttons for translations and
rotations will operate in the selected feature space (see section 13.1.2 and 13.1.3) as
will the current reading of the TCP coordinates displayed in the TCP section of the
screen. If e.g. a table has been defined as a feature and it is chosen as reference in
the Move tab the arrow buttons for up/down, left/right, forward/backward trans-
lations will move the robot in these directions relatve to the table and the shown
coordinates of the TCP will be in the frame of the table as well.
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 should be visible on the
3D graphics. The choice applies on this screen and on the Move screen.
Joggable
Choose whether the selected feature should be joggable. This determines whether
the feature will appear in the feature menu on the Move screen.
Variable
Choose whether the selected feature can be used as a variable. If this option is
active, a variable named the name of the feature suffixed by "_var" will then be
available when editing robot programs, and this variable can be assigned a new
value in a program, which can then be used to control waypoints that depend on
the value of a feature. A feature must also be marked as variable if, any move
command depending on it should have the movement updated when the feature is
changed. If not marked as variable the waypoint will be relative to the pose at the
time of definition.
Change this point
Use this button to set or change the selected feature. The Move tab (section 13.1)
will appear and a new position of the feature can be set.
Version 3.4.5 II-53 CB3