Universal Robots E Series Original Instructions Manual page 170

23. Program Tab
3. Set the desired feature.
Setting the waypoint
Waypoint names
Waypoints automatically get a unique name. The name can be changed by the user. By selecting
the link icon, waypoints are linked and share position information. Other waypoint information such
as blend radius, tool/joint speed and tool/joint acceleration is configured for individual waypoints
even though they may be linked.
Blending
Blending enables the robot to smoothly transition between two trajectories, without stopping at the
waypoint between them.
Example
Consider a pick and place application as an example (see figure 12.2), where the robot is currently
at Waypoint 1 (WP_1) , and it needs to pick up an object at Waypoint 3 (WP_3) . To avoid
collisions with the object and other obstacles (O) , the robot must approach (WP_3) in the
direction coming from Waypoint 2 (WP_2) .
So three waypoints are introduced to create a path that fulfills the requirements.
WP_2
WP_1
O
WP_3
12.2: (WP_1) : initial position, (WP_2) : via point, (WP_3) : pick up position, (O) : obstacle.
Without configuring other settings, the robot will make a stop at each waypoint, before continuing
the movement. For this task a stop at (WP_2) is not optimal since a smooth turn would require
less time and energy while still fulfilling the requirements. It is even acceptable that the robot does
not reach (WP_2) exactly, as long as the transition from the first trajectory to the second happens
near this position.
UR5e 156 User Manual