Example: Dynamically Updating A Feature Pose - Universal Robots UR5 User Manual

13.12 Installation Features
sure that it is selected as Variable, the program with a MoveL command configured
relative to the plane can be easily applied on additional robots by just updating the
installation with the actual position of the table.
The concept applies to any number of Features in an application, to achieve a flexi-
ble program that can solve the same task on many robots even though e.g. a pick-
up, drop-off or any other critical place in the work space might vary between in-
stallations.

13.12.6 Example: Dynamically updating a feature pose

Consider a similar application where the robot must also move in a specific pattern
on top of a table in order to solve a particular task, as shown in figure 13.5.
Figure 13.5: A MoveL command with four waypoints relative to a plane feature
Consider now, that the movement relative to P1 must be repeated a number of
times, each time by an offset o which in this example is set to 10 cm in the Y-direction
(see figure 13.6, offsets O1 and O2). This can be achieved using e.g. pose_add() or
pose_trans() script functions to manipulate the variable feature.
Robot Program
MoveJ
wp1
y = 0.01
o = p[0,y,0,0,0,0]
P1_var = pose_trans(P1_var, o)
MoveL # Feature: P1_var
wp1
wp2
wp3
wp4
It is also possible to switch to a completely different feature while the program is
running instead of just adding an offset. This is shown in the example below (see
figure 13.7) where the reference feature for the MoveL command P1_var can switch
between two planes P1 and P2.
Version 3.4.5
Figure 13.6: Applying an offset to the plane feature
II-57 CB3