Universal Robots UR5 with CB2 User Manual page 61

3.4. Programming
Blend radius
If a blend radius is set, the robot trajectory blends around the waypoint, allowing
the robot not to stop at the point. Blends cannot overlap, so it is not possible
to set a blend radius that overlaps a blend radius for a previous or following
waypont. A stop point is a waypoint with a blend radius of 0.0mm.
Note on I/O Timing
If a waypoint is a stop point with an I/O command as the next command, the
I/O command is executed when the robot stops at the waypoint. However, if
the waypoint has a blend radius, the following I/O command is executed when
the robot enters the blend.
Example
A small example in which a robot program moves the tool from a starting posi-
tion to one of two ending positions, depending on the state of digital input[1].
Notice that the tool trajectory (thick black line) moves in straight lines outside the
blend areas (dashed circles), while the tool trajectory deviates from the straight
line path inside the blend areas. Also notice that the state of the digital input[1]
sensor is read just as the robot is about to enter the blend area around Waypoint
2, even though the if...then command is after Waypoint 2 in the program
sequence. This is somewhat counter-intuitive, but is necessary to allow the robot
to select the right blend path.
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