Motion Control - Universal Robots UR3 Installation Manual

4. Motion Control

Relevant
YES Program the trajectories of the robot
smoothly and continuously to avoid
disruptive movements.
Blends should be programmed with at
least 15 mm if there is no special
requirement by application (e.g. Gluing).
MoveP used? While the robot is moving through the
waypoints with constant speed, the robot
YES cannot wait for either an I/O operation or
NO an operator action. Some smart gripper
commands will also impose a wait on the
program execution, so this is something to
also be aware of.
Doing so might stop the robot motion or
cause a protective stop.
If a wait is necessary, stop robot with script
command "stopl()".
Skipped Waypoints in the program that are too
Waypoint close to each other or whose blend is too
entries in the large are skipped during program
log file? execution. This is logged as a warning
message in the Log File.
YES
NO e.g. warning message:
"Overlapping Blends in a MoveL, a
waypoint was skipped"
Adjust blend configuration in specific
waypoints.
Loops or If The robot should not be stopped abruptly.
command This can occur due to a jump out of the
program section where "check expression
where "Check
continuously" is enabled.
expression
continuously"
is selected? Realize the continuous expression check
without interrupting the movement. If
YES interrupt is necessary script commands
"stopl()/stopj()" can be used.
NO
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Description
6
Further Information
UR User Manual
Chapter "Command:
Fixed Waypoint"
UR Support Site
Article "Circular path
using MoveP/MoveC"
UR Script Manual
function "stopl()"
UR Support Site
Article "Circular path
using MoveP/MoveC"
UR Script Manual
function
"stopl()/stopj()"
Installation Guide (en) 1.3.3
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