Universal Robots e Series User Manual page 144

Variable Waypoint
A waypoint with the position given by a variable, in this case calculated_pos. The variable has to
be a pose such as
var=p[0.5,0.0,0.0,3.14,0.0,0.0]. The first three are x,y,z and the last three are the orientation
given as a rotation vector given by the vector rx,ry,rz. The length of the axis is the angle to be rotated
in radians, and the vector itself gives the axis about which to rotate. The position is always given
in relation to a reference frame or coordinate system, defined by the selected feature. If a blend
radius is set on a fixed waypoint and the waypoints preceding and succeeding it are variable or if
the blend radius is set on a variable waypoint, then the blend radius will not be checked for overlap
(see 15.5.1). If, when running the program, the blend radius overlaps a point, the robot will ignore
it and move to the next one.
For example, to move the robot 20 mm along the z-axis of the tool:
var_1=p[0,0,0.02,0,0,0]
Movel
Waypoint_1 (variable position):
Use variable=var_1, Feature=Tool
15.5.2 Direction
The program node Direction specifies a motion relative to feature axes or TCPs. The robot moves in
along the path specified by the Direction Program Node until that movement is stopped by an Until
condition.
e-Series II-54
15.5 Basic program nodes
Version 5.4