Universal Robots UR5 with CB2 User Manual page 51

3.3. Robot Control
Add Line
Push this button to add a line feature to the installation. A line is defined as an
axis between two point features. This axis, directed from the first point towards
the second point, will constitute the y-axis of the line coordinate system. The
z-axis will be defined by the projection of the z-axis of the first sub point onto the
plane perpendicular to the line. The position of the line coordinate system is the
same as the position for the first sub point.
Add Plane
Push this button to add a plane feature to the installation. A plane is defined by
three sub point features. The position of the coordinate system is the same as
the position for the first sub point. The z-axis is the plane normal, and the y-axis
51 UR5
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