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3. Go to the Structure tab.
4. Touch the Move button.
5. Go to the Command tab.
6. Press the Next button, to go to the Waypoint settings.
7. Press the Set this waypoint button next to the "?" picture.
8. On the Move screen, move the robot by pressing the various blue arrows, or move the
robot by holding the Freedrive button, placed on the backside of the teach pendant,
while pulling the robot arm.
9. Press OK.
10. Press Add waypoint before.
11. Press the Set this waypoint button next to the "?" picture.
12. On the Move screen, move the robot by pressing the various blue arrows, or move the robot
by holding the Freedrive button while pulling the robot arm.
13. Press OK.
14. Your program is ready. The robot will move between the two points when you press the
"Play" symbol. Stand clear, hold on to the emergency stop button and press "Play".
15. Congratulations! You have now produced your first robot program that moves the robot
between the two given waypoints.
11.3 PolyScope Programming Interface
PolyScope runs on the touch sensitive screen attached to the control box.
e-Series
WARNING:
1. Do not drive the robot into itself or anything else as this may
cause damage to the robot.
2. Keep your head and torso outside the reach (workspace) of
the robot. Do not place fingers where they can be caught.
3. This is only a quick start guide to show how easy it is to use
a UR robot. It assumes a harmless environment and a very
careful user. Do not increase the speed or acceleration above
the default values. Always conduct a risk assessment before
placing the robot into operation.
11.3 PolyScope Programming Interface
II-26
Version 3.11
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