Feature Selection; Relative Waypoints; Variable Waypoints; Variable Feature - Universal Robots UR3/CB3 Original Instructions Manual

Figure 14.1: Speed profile for a motion. The curve is divided into three segments: acceleration, cruise and
deceleration. The level of the cruise phase is given by the speed setting of the motion, while the steepness of
the acceleration and deceleration phases is given by the acceleration parameter.
using the tool flange. If a user defined TCP or the active TCP is selected, the motion under this
Move command will adjusted be with respect to this. If Use Tool Flange is selected, no TCP is
used and the motion under this Move command will be with respect to the tool flange (i.e. no
adjustments to the motion).
If the active TCP for this motion is determined during runtime of the program, it needs to be set
dynamically using the Set command (see 14.12) or by using script commands. For further
information about configuring named TCPs (see 13.6).

Feature selection

The feature spaces the waypoints under the Move command, that should be represented when
specifying these waypoints (see section 13.12). This means that when setting a waypoint,
the program will remember the tool coordinates in the feature space of the selected feature. There
are a few circumstances that need detailed explanation:
Relative waypoints: The selected feature has no effect on relative waypoints. The relative movement
is always performed with respect to orientation of the Base.
Variable waypoints: When the robot arm moves to a variable waypoint, the Tool Center Point (TCP)
is calculated as the coordinates of the variable in the space of the selected feature. Therefore,
the robot arm movement for a variable waypoint changes if another feature is selected.
Variable feature: If any of the features in the currently loaded installation are selected as variable,
these corresponding variables are also selectable in the feature selection menu. If a feature
variable (named with the name of the feature suffixed by " var") is selected, robot arm move-
ments (except to Relative waypoints) are relative to the actual value of the variable when the
program is running. The initial value of a feature variable is the value of the actual feature
as configured in the installation. If this value is modified, then the movements of the robot
change.
CB3
Cruise
Acceleration
Time
II-76
14.5 Command: Move
Deceleration
Version 3.10