Universal Robots UR5e User Manual page 132

MoveL
WP_I
WP_1 (blend)
WP_2 (blend)
if (digital_input[1]) then
WP_F_1
else
WP_F_2
Figure 16.5: WP_I is the initial waypoint and there are two potential final waypoints WP_F_1 and WP_F_2,
depending on a conditional expression. The conditional if expression is evaluated when the robot arm
enters the second blend (*).
Trajectory type combinations It is possible to blend between all four combinations of trajec-
tory types of MoveJ and MoveL, but the specific combination will affect the computed blend
trajectory. There are 4 possible combinations:
1. MoveJ to MoveJ (Pure Joint space blend)
2. MoveJ to MoveL
3. MoveL to MoveL (Pure Cartesian space blend)
4. MoveL to MoveJ
Pure joint space blending (bullet 1) vs. pure Cartesian space blending (bullet 3) is compared in
figure 16.6. It shows two potential paths of the tool for identical sets of waypoints.
WP_1
Figure 16.6: Joint space (MoveJ) vs. cartesian space (MoveL) movement and blend.
Of the different combinations, bullets 2, 3 and 4 will result in trajectories that keep within the
boundaries of the original trajectory in Cartesian space. An example of a blend between different
CB5
WP_2
WP_F_1
WP_2
WP_1
WP_3
II-48
16.5 Basic program nodes
WP_I
WP_1
*
WP_F_2
WP_2
WP_3
Version 5.0.2