Shared Parameters; Tcp Selection; Movep; Circle Move - Universal Robots UR3/CB3 Original Instructions Manual

14.5 Command: Move
• moveP moves the tool linearly with constant speed with circular blends, and is intended for
some process operations, like gluing or dispensing. The size of the blend radius is by default
a shared value between all the waypoints. A smaller value will make the path turn sharper
whereas a higher value will make the path smoother. While the robot arm is moving through
the waypoints with constant speed, the robot control box cannot wait for either an I/O opera-
tion or an operator action. Doing so might stop the robot arm's motion, or cause a protective
stop.
• Circle move can be added to a moveP to make a circular movement. The robot starts the
movement from its current position or start point, moves through a ViaPoint specified on the
circular arc, and an EndPoint that completes the circular movement.
A mode is used to calculate tool orientation, through the circular arc. The mode can be:
– Fixed: only the start point is used to define tool orientation
– Unconstrained: the start point transforms to the EndPoint to define tool orientation

Shared parameters

The shared parameters in the bottom right corner of the Move screen apply to the movement from
the previous position of the robot arm to the first waypoint under the command, and from there to
each of the following waypoints. The Move command settings do not apply to the path going from
the last waypoint under that Move command.

TCP selection

The TCP used for the waypoints under this Move command can be selected from the drop-down
menu. It is possible to select from user defined TCPs from the installation, the active TCP or simply
Version 3.10 II-75 CB3