Universal Robots e Series User Manual page 135

15.5 Basic program nodes
15.5 Basic program nodes
15.5.1 Move
The Move command controls the robot motion through the underlying waypoints. Waypoints have
to be under a Move command. The Move command defines the acceleration and the speed at which
the robot arm will move between those waypoints.
Movement Types
You can select one of three types of movements: MoveJ, MoveL and MoveP. Each movement type
is explained below.
• moveJ makes movements that are calculated in the robot arm joint space. Joints are con-
trolled to finish their movements at the same time. This movement type results in a curved
path for the tool. The shared parameters that apply to this movement type are the maximum
joint speed and joint acceleration, specified in deg/s and deg/s
have the robot arm move fast between waypoints, disregarding the path of the tool between
those waypoints, this movement type is the preferable choice.
• moveL moves the Tool Center Point (TCP) linearly between waypoints. This means that each
joint performs a more complicated motion to keep the tool on a straight line path. The shared
parameters that can be set for this movement type are the desired tool speed and tool accel-
eration specified in mm/s and mm/s
• moveP moves the tool linearly with constant speed with circular blends, and is intended for
some process operations, like gluing or dispensing. The size of the blend radius is by default
a shared value between all the waypoints. A smaller value will make the path turn sharper
whereas a higher value will make the path smoother. While the robot arm is moving through
the waypoints with constant speed, the robot control box cannot wait for either an I/O operation
or an operator action. Doing so might stop the robot arm's motion, or cause a protective stop.
Version 5.4
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e-Series