Universal Robots UR5 with CB2 User Manual page 59

3.4. Programming
size of the blend radius is per default a shared value between all the way-
point. A smaller value will make the path turn sharper whereas a higher
value will make the path smoother. While the robot is moving through the
waypoints with constant speed, the robot cannot wait for either an I/O op-
eration or an operator action. Doing so will might stop the robots motion,
or cause a security stop.
Feature selection
For MoveL and MoveP it is possible to select in which feature space the way-
points under the Move command should be represented when specifying these
waypoints. This means that when setting a waypoint, the program will remem-
ber the tool coordinates in the feature space of the selected feature. There are
a few circumstances that need detailed explanation.
Fixed feature: If a fixed feature, such as e.g. Base, is selected this will not
have any effect on Fixed and Relative waypoints. The behavior for Vari-
able waypoints is described below.
Variable feature: If any of the features in the currently loaded installation
are selected to be variable, these corresponding variables will also be
selectable in the feature selection menu. If a feature variable (named
by the name of the feature and proceeded by " var") is selected, the
robot movements (except to Relative waypoints) will depend on the ac-
tual value of the variable when the program is running. The initial value of
a feature variable is the value of the actual feature. This means that the
movements will only change if the feature variable is actively changed by
the robot program.
Variable waypoint: When the robot moves to a variable waypoint, the tool
target position will always be calculated as the coordinates of the variable
in the space of the selected feature. Therefore, the robot movement for a
variable waypoint will always change if another feature is selected.
The settings of the Shared Parameters of a Move command apply to the
path from the robot's current position to the first waypoint under the command,
and from there to each of the following waypoints. The Move command set-
tings do not apply to the path going from the last waypoint under that Move
command.
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59 UR5