Command Tab, Wait - Universal Robots UR5 with CB2 User Manual

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3.4. Programming

var=p[0.5,0.0,0.0,3.14,0.0,0.0]. The ﬁrst three are x,y,z and the last three

are the orientation given as a rotation vector given by the vector rx,ry,rz. The

length of the axis is the angle to be rotated in radians, and the vector itself gives

the axis about which to rotate. The pose is alway given in relation to a reference

frame or coordinate system, deﬁned by the selected feature. The robot always

moves linearly to a variable waypoint.

For example, to move the robot 20mm along the z-axis of the tool:

var_1=p[0,0,0.02,0,0,0]

Movel

Waypoint_1 (varibale position): Use variable=var_1, Feature=Tool

3.4.9 Program

Waits for a given amount of time or for an I/O signal.

Command Tab, Wait

UR5

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