Universal Robots e-Series Original Instructions Manual page 77

7. Program Tab
8.5: WP_I is the initial waypoint and there are two potential final waypoints WP_F_1 and WP_F_2,
depending on a conditional expression. The conditional if expression is evaluated when the
Blend Trajectories
8.6: Joint space (MoveJ) vs. cartesian space (MoveL) movement and blend.
Software Manual
WP_I
WP_2
WP_F_1
robot arm enters the second blend (*).
WP_1
WP_1
77
WP_1
*
WP_F_2
WP_2
WP_3
WP_2
WP_3
e-Series