Adding A Line - Universal Robots e Series User Manual

16.3 Features

16.3.3 Adding a Line

Push the Line button to add a line feature to the installation. The line feature defines lines that the
robot needs to follow. (e.g., when using conveyor tracking). A line l is defined as an axis between
two point features p1 and p2 as shown in figure 16.3.
In figure 16.3 the axis directed from the first point towards the second point, constitutes the y-axis of
the line coordinate system. The z-axis is defined by the projection of the z-axis of p1 onto the plane
perpendicular to the line. The position of the line coordinate system is the same as the position of
p1.
Version 5.4
Figure 16.3: Definition of the line feature
II-107 e-Series