Universal Robots e-Series Original Instructions Manual page 74

1. Use an existing waypoint in a Move Node, or insert the waypoint into a different Move Node
(e.g. by copy and paste or use the "Link" button on the waypoint).
2. Set the desired TCP.
3. Set the desired feature.
Setting the waypoint
Waypoint names
Waypoints automatically get a unique name. The name can be changed by the user. By selecting
the link icon, waypoints are linked and share position information. Other waypoint information such
as blend radius, tool/joint speed and tool/joint acceleration is configured for individual waypoints
even though they may be linked.
Blending
Blending enables the robot to smoothly transition between two trajectories, without stopping at the
waypoint between them.
Example
Consider a pick and place application as an example (see figure 8.2), where the robot is currently at
Waypoint 1 (WP_1) , and it needs to pick up an object at Waypoint 3 (WP_3) . To avoid collisions
with the object and other obstacles (O) , the robot must approach (WP_3) in the direction coming
from Waypoint 2 (WP_2) .
So three waypoints are introduced to create a path that fulfills the requirements.
8.2: (WP_1) : initial position, (WP_2) : via point, (WP_3) : pick up position, (O) : obstacle.
Without configuring other settings, the robot will make a stop at each waypoint, before continuing
the movement. For this task a stop at (WP_2) is not optimal since a smooth turn would require
less time and energy while still fulfilling the requirements. It is even acceptable that the robot does
not reach (WP_2) exactly, as long as the transition from the first trajectory to the second happens
near this position.
e-Series
WP_1
O
74
7. Program Tab
WP_2
WP_3
Software Manual