Universal Robots e Series User Manual page 137

15.5 Basic program nodes
Figure 15.1: Speed profile for a motion. The curve is divided into three segments: acceleration, cruise and
deceleration. The level of the cruise phase is given by the speed setting of the motion, while the steepness
of the acceleration and deceleration phases is given by the acceleration parameter.
Feature selection
The feature spaces the waypoints under the Move command, that should be represented when spec-
ifying these waypoints (see section 16.3). This means that when setting a waypoint, the program
will remember the tool coordinates in the feature space of the selected feature. There are a few cir-
cumstances that need detailed explanation:
Relative waypoints The selected feature has no effect on relative waypoints. The relative move-
ment is always performed with respect to orientation of the Base.
Variable waypoints When the robot arm moves to a variable waypoint, the Tool Center Point (TCP)
is calculated as the coordinates of the variable in the space of the selected feature. Therefore,
the robot arm movement for a variable waypoint changes if another feature is selected.
Feature variable You can change a feature's position while the program is running by assigning a
pose to its corresponding variable.
Use joint angles
As an alternative to the 3D pose, you can select the Use joint angles checkbox when using the
MoveJ to define waypoints using the robot joint angles. If Use joint angles is enabled, TCP and
feature options are unavailable. Waypoints defined using Use joint angles are not adjusted when
the program is moved between robots.
Version 5.4
Cruise
Acceleration
Time
II-47
Deceleration
e-Series