Universal Robots ActiNav Operating Manual page 16

3. Procedures
Teaching a Capsule
To create a Capsule, teach the two end points, enter the length, and the diameter.
1. In the Teach menu, tap Capsule.
2. Tap Point 1. PolyScope shows the Move tab.
3. Move the TCP to the place where the end point should be and tap OK.
4. Repeat steps 2–3 for end point 2.
5. Tap Done.
6. In the Shape Properties section, fill in the Diameter field. PolyScope calculates the Length filed
value automatically.
7. In the Name field, enter the name for this shape.
Operating Guide 11 ActiNav Autonomous Bin Picking