Universal Robots UR5 with CB2 User Manual page 71

3.4. Programming
The Pattern command can be used to cycle through positions in the robots
program. The pattern command corresponds to one position at each execu-
tion.
A pattern can be given as one of four types. The first three, "Line", "Square"
or "Box" can be used for positions in a regular pattern. The regular patterns are
defined by a number of characteristic points, where the points define the edges
of the pattern. For "Line" this is the two end points, for "Square" this is three of
the four corner points, where as for "Box" this is four of the eight corner points.
The programmer enters the number of positions along each of the edges of the
pattern. The robot controller then calculates the individual pattern positions by
proportionally adding the edge vectors together.
If the positions to be traversed do not fall in a regular pattern, the "List" option
can be chosen, where a list of all the positions is provided by the programmer.
This way any kind of arrangement of the positions can be realized.
Defining the Pattern
When the "Box" pattern is selected, the screen changes to what is shown below.
A "Box" pattern uses three vectors to define the side of the box. These three
vectors are given as four points, where the first vector goes from point one to
point two, the second vector goes from point two to point three, and the third
vector goes from point three to point four. Each vector is divided by the interval
count numbers. A specific position in the pattern is calculated by simply adding
the interval vectors proportionally.
The "Line" and "Square" patterns work similarly.
A counter variable is used while traversing the positions of the pattern. The
name of the variable can be seen on the Pattern command screen. The vari-
able cycles through the numbers from 0 to X Y
the pattern. This variable can be manipulated using assignments, and can be
used in expressions.
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1, the number of points in
Z
71 UR5