Using Move Here; Point Feature; Line Feature - Universal Robots e-Series Original Instructions Manual

feature and is chosen as a reference in the Move Tab, the translation arrows (i.e., up/down,
left/right, forward/backward) move the robot in these directions relative to the table. Additionally,
the TCP coordinates will be in the frame of the table.
• In the Features tree you can rename a Point, Line or Plane by tapping the pencil button.
• In the Features tree you can delete a Point, Line or Plane by tapping the Delete button.

8.17.2. Using Move here

Tap Move here to move the robot arm towards the selected feature. At the end of this movement,
the coordinate systems of the feature and the TCP will coincide.
Move here is disabled if the robot arm cannot reach the feature.

8.17.3. Point feature

The point feature defines a safety boundary or a global home configuration of the Robot arm. The
point feature pose is defined as the position and orientation of the TCP.
Adding a Point
1. In Installation, select Features.
2. Under Features select Point.

8.17.4. Line feature

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 9.3.
e-Series 144
8. Installation Tab
Software Manual