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S1
MoveL # Feature: P1_var
wp1
wp2
wp3
wp4
15.4: Simple program with four waypoints relative to a feature plane manually updated by
The application requires the program to be reused for multiple robot installations where the
position of the table varies slightly. The movement relative to the table is identical. By defining
the table position as a feature P1 in the installation, the program with a MoveL command
configured relative to the plane can be easily applied on additional robots by just updating the
installation with the actual position of the table.
The concept applies to a number of Features in an application to achieve a flexible program can
solve the same task on many robots even though if other places in the work space varies
between installations.
Example: Dynamically Updating a Feature Pose
Consider a similar application where the robot must move in a specific pattern on top of a table
to solve a particular task (see 15.5).
UR10
changing the feature
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User Manual
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