Universal Robots UR5 User Manual page 154

Figure 14.1: Speed profile for a motion. The curve is divided into three segments: acceleration, cruise and
deceleration. The level of the cruise phase is given by the speed setting of the motion, while the steepness
of the acceleration and deceleration phases is given by the acceleration parameter.
Variable waypoints: When the robot arm moves to a variable waypoint, the tool tar-
Variable feature: If any of the features in the currently loaded installation are se-
CB3
Cruise
Acceleration
Time
get position is calculated as the coordinates of the variable in the space of the
selected feature. Therefore, the robot arm movement for a variable waypoint
changes if another feature is selected.
lected as variable, these corresponding variables are also selectable in the fea-
ture selection menu. If a feature variable (named with the name of the fea-
ture suffixed by "_var") is selected, robot arm movements (except to Relative
waypoints) are relative to the actual value of the variable when the program is
running. The initial value of a feature variable is the value of the actual feature
as configured in the installation. If this value is modified, then the movements
of the robot change.
II-72
14.5 Command: Move
Deceleration
Version 3.4.5