Plane Feature; Adding A Plane; Teaching A Plane; Example: Manually Updating A Feature To Adjust A Program - Universal Robots UR3/CB3 Original Instructions Manual

13.12.4 Plane Feature

Select the plane feature when you need a frame with high precision: e.g., when working with a
vision system or doing movements relative to a table.

Adding a plane

1. In Installation, select Features.
2. Under Features select Plane.

Teaching a plane

When you press the plane button to create a new plane, the on-screen guide assists you creating a
plane.
1. Select Origo
2. Move robot to define the direction of the positive x-axis of the plane
3. Move robot to define the direction of the positive y-axis of the plane
The plane is defined using the right hand rule so the z- axis is the cross product of the x-axis and
the y-axis, as illustrated below.
Modify an existing plane by selecting Plane and pressing Modify Plane. You will then use the same
guide as for teaching a new plane.

13.12.5 Example: Manually Updating a Feature to Adjust a Program

Consider an application where multiple parts of a robot program is relative to a table. Figure 13.4
illustrates the movement from waypoints wp1 through wp4.
CB3
NOTE:
You can re-teach the plane in the opposite direction of the x-axis, if
you want that plane to be normal in the opposite direction.
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13.12 Installation Features
Version 3.10