Universal Robots e Series User Manual page 145

15.5 Basic program nodes
Adding a Direction Movement
1. Under Basic, tap Direction to add a linear movement to your Program Tree.
2. In the Direction field, under Feature, define the linear movement.
Stopping a Direction Movement
1. In the Direction field, tap the Add Until button to define and add stop criteria to your Program
Tree.
You can add Direction Vector settings, for Tool Speed and Tool Acceleration, to define the vector
direction for linear motion, allowing for advanced uses as:
• defining linear motion relative to multiple feature axes
• computing the direction as a mathematical expression
The Direction Vectors defines a custom code expression that is resolved to a unit vector. For exam-
ple, Direction vectors of [100,0,0] and [1,0,0] have the exact same effect on the robot; use the Speed
Slider to moving along the x-axis at a desired speed. The values of the numbers in the direction
vector only matter relative to each other.
Until
The program node Until defines a stop criterion for a motion. The robot moves along a path and
stops when contact is detected. In the Progran Tree, you can add Until Nodes under Direction Nodes
and Waypoint Nodes. You can add several stop criteria to a single movement. The motion stops
when the first Until condition is met.
Version 5.4 II-55 e-Series