Universal Robots E Series Original Instructions Manual page 194

1. Tap the At Each Item node on the Program Tree.
2. On the At Each Item screen, tap Next.
3. Tap the Move Here button. Then, hold the Auto button or use the Manual button to move the
robot to the ReferencePoint. Tap the Continue button. Tap Next.
4. Tap Set Waypoint to teach the Approach Waypoint (see
Next.
5. Repeat Step 3.
6. Tap Set Waypoint to teach the Exit Waypoint (see
7. Tap Finish.
8. You can now add appropriate gripper action nodes in the Tool Action folder in the Program
Tree.
ToolActionPoint Waypoint: The location and position you want the robot to
be in when conducting an action for each item in a layer. The ToolActionPoint
Waypoint is the ReferencePoint by default, but it can be edited in the Program
Tree by tapping the ToolActionPoint Waypoint node. When using the wizard,
the ReferencePoint is the first position in the first defined layer on the pallet.
The ReferencePoint is used to teach the robot the Approach Waypoint,
ToolActionPoint ToolActionPoint Waypoint, and Exit Waypoint for each item in a layer.
Approach Waypoint: The collision-free position and direction you want the
robot to take when approaching an item in a layer.
Approach
Tool Action: The action you want the robot attachment to perform for each
item.
Tool Action
Exit Waypoint: The position and direction you want the robot to take when
moving away from an item in a layer.
Exit
UR5e
23.11.1. Move on
23.11.1. Move on
180
23. Program Tab
page 152). Tap
page 152). Tap Next.
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