Universal Robots e-Series Original Instructions Manual page 72

TCP selection
The way the robot moves between waypoints is adjusted depending on whether the TCP is set
using a user defined TCP or an active TCP. Ignore Active TCP allows this movement to be adjusted
in relation to the Tool Flange.
Setting the TCP in a Move
1. Access the Program Tab screen to set the TCP used for waypoints.
2. Under Command, in the drop down menu on the right select the Move type.
3. Under Move, select an option in the Set TCP drop down menu.
4. Select Use active TCP or select a user defined TCP.
You can also choose Ignore Active TCP.
Feature selection
The feature spaces the waypoints under the Move command, that should be represented when
specifying these waypoints (see section
setting a waypoint, the program will remember the tool coordinates in the feature space of the
selected feature. There are a few circumstances that need detailed explanation:
The selected feature has no effect on relative waypoints. The relative movement is always
performed with respect to orientation of the Base.
When the robot arm moves to a variable waypoint, the Tool Center Point (TCP) is calculated as the
coordinates of the variable in the space of the selected feature. Therefore, the robot arm
movement for a variable waypoint changes if another feature is selected.
You can change a feature's position while the program is running by assigning a pose to its
corresponding variable.
8.1: Speed profile for a motion. The curve is divided into three segments: acceleration, cruise and
deceleration. The level of the cruise phase is given by the speed setting of the motion, while the
steepness of the acceleration and deceleration phases is given by the acceleration parameter.
Use joint angles
As an alternative to the 3D pose, you can select the Use joint angles checkbox when using the
MoveJ to define waypoints using the robot joint angles. If Use joint angles is enabled, TCP and
feature options are unavailable. Waypoints defined using Use joint angles are not adjusted when
e-Series
8.17. Features on
Cruise
Acceleration
Time
72
page 142). This means that when
Deceleration
7. Program Tab
Software Manual