Program 3.4.6 Setting The Waypoint; Command Tab, Fixed Waypoint - Universal Robots UR5 with CB2 User Manual

Figure 3.1: Speed profile for a motion. The curve is divided into three seg-
ments: acceleration, cruise and deceleration. The level of the
cruise phase is given by the speed setting of the motion, while
the steepness of the acceleration and deceleration phases is
given by the acceleration parameter.
3.4.5 Program
A point on the robot path. Waypoints are the most central part of a robot
program, telling the robot where to be. A fixed position waypoint is given by
physically moving the robot to the position.
3.4.6 Setting the waypoint
Press this button to enter the Move screen where you can specify the robot
position for this waypoint. If the waypoint is placed under a Move command in
linear space (moveL or moveP), there need to be a valid feature selected at that
Move command, in order for this button to be pressable.
Waypoint names
Waypoint names can be changed. Two waypoints with the same name is al-
ways the same waypoint. Waypoints are numbered as they are specified.
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Command Tab, Fixed Waypoint

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3.4. Programming
UR5