Program Command Tab, Relative Waypoint - Universal Robots UR-6-85-5-A User Manual

3.4. Programming
Example
Program
movel
WaypointStart
Waypoint1
Waypoint2
if (digital_input[1]) then
WaypointEnd1
else
WaypointEnd2
endif
This is where the input
port is read!
A small example in which a robot program moves the tool from a starting posi-
tion to one of two ending positions, depending on the state of digital_input[1].
Notice that the tool trajectory (thick black line) moves in straight lines outside the
blend areas (dashed circles), while the tool trajectory deviates from the straight
line path inside the blend areas. Also notice that the state of the digital_input[1]
sensor is read just as the robot is about to enter the blend area around Waypoint
2, even though the if...then command is after Waypoint 2 in the program
sequence. This is somewhat counter-intuitive, but is necessary to allow the robot
to select the right blend path.
3.4.6 Program
A waypoint with the position given relative to the robot's previous position,
such as "two centimeters to the left". The relative position is defined as the
Starting point
Command Tab, Relative Waypoint
51
Straight line segment
Waypoint 1
5 cm blend
Straight line segment
Waypoint 2
10 cm blend
Ending point 2
Ending point 1
UR-6-85-5-A