Example: Manually Updating A Feature To Adjust A Program - Universal Robots UR5e User Manual

17.3 Features
Modify an existing plane by selecting Plane and pressing Modify Plane. You will then use the
same guide as for teaching a new plane.

17.3.5 Example: Manually Updating a Feature to Adjust a Program

Consider an application where multiple parts of a robot program is relative to a table. Figure
17.4 illustrates the movement from waypoints wp1 through wp4.
Robot Program
MoveJ
S1
MoveL # Feature: P1_var
wp1
wp2
wp3
wp4
Figure 17.4: Simple program with four waypoints relative to a feature plane manually updated by chang-
ing the feature
The application requires the program to be reused for multiple robot installations where the po-
sition of the table varies slightly. The movement relative to the table is identical. By defining the
Version 5.0.2
NOTE:
You can re-teach the plane in the opposite direction of the x-axis, if
you want that plane to be normal in the opposite direction.
II-83 CB5