Trajectory Type Combinations - Universal Robots UR10/CB3 User Manual

That means the if...then expression (or other necessary statements to determine the following
waypoint, e.g. variable waypoints) is evaluated before we actually reach (WP_2) which is
somewhat counter-intuitive when looking at the program sequence. If a waypoint is a stop point
and followed by conditional expressions to determine the next waypoint (e.g. the I/O command) it
is executed when the robot arm has stopped at the waypoint.
MoveL
WP_I
WP_1 (blend)
WP_2 (blend)
if (digital_input[1]) then
WP_F_1
else
WP_F_2
16.5: WP_I is the initial waypoint and there are two potential final waypoints WP_F_1 and WP_
F_2, depending on a conditional expression. The conditional if expression is evaluated when

Trajectory type combinations

It is possible to blend between all four combinations of trajectory types of MoveJ and MoveL, but
the specific combination will affect the computed blend trajectory. There are 4 possible
combinations:
1. MoveJ to MoveJ (Pure Joint space blend)
2. MoveJ to MoveL
3. MoveL to MoveL (Pure Cartesian space blend)
4. MoveL to MoveJ
Pure joint space blending (bullet 1) vs. pure Cartesian space blending (bullet 3) is compared in
figure 16.6. It shows two potential paths of the tool for identical sets of waypoints.
UR10
WP_I
WP_2
WP_F_1
the robot arm enters the second blend (*).
168
WP_1
*
WP_F_2
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