Universal Robots e Series User Manual page 176

15.8.5 RTCP Waypoint
Like regular waypoints, an RTCP waypoint is taught by physically moving the Robot Arm to the po-
sition.
Teaching RTCP Waypoints
1. In the Program Tab, insert an RTCP_MoveP node.
2. On the RTCP_MoveP Node, use the Set button to bring up the Move screen.
3. On the Move screen, use Teach Mode or Jog to position the robot in a desired configuration.
4. Press the green check mark.
Configuring an RTCP Waypoint
Waypoints automatically get a unique name, that you can change by tapping the pencil icon. Blend-
ing enables the robot to smoothly transition between two trajectories without stopping at the way-
point between them. The blend radius for a waypoint can be taken from the RTCP_MoveP node by
tapping the Use Shared Blend Radius radio button or by tapping the Blend with radius button and
entering a value.
e-Series
NOTE:
The maximum speed of a Circle Move may be lower than the spec-
ified value. The circle radius is r, the max acceleration is A, and the
maximum speed cannot exceed Ar due to centripetal acceleration.
II-86
15.8 URCaps
Version 5.4