Changing The Point; Joggable; Using Move Robot Here; New Point - Universal Robots UR3/CB3 Original Instructions Manual

Changing the point

Use the Change this point button to set or change the selected feature. The Move tab (section
13.1) appears and a new feature position can be set.

Joggable

Choose whether the selected feature should be joggable. This determines whether the feature will
appear in the feature menu on the Move screen.

Using Move robot here

Push the Move robot here button to move the Robot arm towards the selected feature. At the end
of this movement, the coordinate systems of the feature and the TCP will coincide.

13.12.2 New Point

Push the Pointbutton to add a point feature to the installation. The point feature defines a safety
boundary or a global home configuration of the Robot arm. The point feature pose is defined as the
position and orientation of the TCP.
13.12.3 New Line
Push the Line button to add a line feature to the installation. The line feature defines lines that the
robot needs to follow. (e.g., when using conveyor tracking). A line l is defined as an axis between
two point features p1 and p2 as shown in figure 13.3.
CB3 II-56
13.12 Installation Features
Version 3.10