Fixed Waypoint - Universal Robots E Series Original Instructions Manual

23. Program Tab

23.11.2. Fixed Waypoint

A point on the robot path. Waypoints are the most central part of a robot program, telling the robot
arm where to be. A fixed position waypoint is taught by physically moving the robot arm to the
position.
Teaching Waypoints
Teaching is the term used to show the robot how to position the TCP in relation to a feature for an
application. To teach the robot a waypoint, follow the instructions below:
1. In the Program Tab, insert a Move Node.
2. On the Move Node, use the Set TCP drop-down menu to set the TCP.
3. On the Move Node, use the Feature drop-down menu to select a feature.
4. On the Waypoint Node, use Teach Mode or Jog to position the robot in a desired
configuration.
Using Waypoints
Using a waypoint means applying the taught relation between the feature and the TCP in the
present situation. The relation between the feature and the TCP, applied to the current selected
feature, achieves the desired TCP location. Then the robot figures out how to position itself to let
the currently active TCP reach that TCP position. To use a waypoint, follow the instructions below:
1. Use an existing waypoint in a Move Node, or insert the waypoint into a different Move Node
(e.g. by copy and paste or use the "Link" button on the waypoint).
2. Set the desired TCP.
User Manual 155 UR5e