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

Test force settings
The on/off button, Teach Test, toggles the behavior of the Teach button on the
back of the Teach Pendant from normal teaching mode to testing the force
command. When the Teach Test button is on and the Teach button on the back
of the Teach Pendant is pressed, the robot will perform as if the program had
reached this force command, and this way the settings can be verified before
actually running the complete program. Especially, this possibility is useful for
verifying that compliant axes and forces have been selected correctly. Simply
hold the robot tcp using one hand and press the Teach button with the other,
and notice in which directions the robot can/cannot be moved. Upon leaving
this screen, the Teach Test button automatically switches off, which means the
Teach button on the back of the Teach Pendant button is again used for free
teach mode. Note: The Teach button will only be effectual when a valid feature
has been selected for the Force command.
3.4.24 Program
A pallet operation can perform a sequence of motions in a set of places
given as a pattern, as described in section 3.4.22. At each of the positions in the
pattern, the sequence of motions will be run relative to the pattern position.
Programming a Pallet Operation
The steps to go through are as follows;
1. Define the pattern.
2. Make a "PalletSequence" for picking up/placing at each single point. The
sequence describes what should be done at each pattern position.
3. Use the selector on the sequence command screen to define which of the
waypoints in the sequence should correspond to the pattern positions.
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Command Tab, Pallet

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3.4. Programming
UR5