Example: Dynamically Updating A Feature Pose - Universal Robots UR5e User Manual

table position as a feature P1 in the installation, 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 a number of Features in an application to achieve a flexible program
can solve the same task on many robots even though if other places in the work space varies
between installations.

17.3.6 Example: Dynamically Updating a Feature Pose

Consider a similar application where the robot must move in a specific pattern on top of a table
to solve a particular task (see 17.5).
Figure 17.5: A MoveL command with four waypoints relative to a plane feature
The movement relative to P1 is repeated a number of times, each time by an offset o. In this
example the offset is set to 10 cm in the Y-direction (see figure 17.6, offsets O1 and O2). This is
achieved using pose_add() or pose_trans() script functions to manipulate the variable.
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 possible to switch to a different feature while the program is running instead of adding an
offset. This is shown in the example below (see figure 17.7) where the reference feature for the
MoveL command P1_var can switch between two planes P1 and P2.
17.4 Fieldbus
Here you can set the family of industrial computer network protocols used for real-time dis-
tributed control accepted by PolyScope: MODBUS and Ethernet/IP
CB5
Figure 17.6: Applying an offset to the plane feature
II-84
17.4 Fieldbus
Version 5.0.2