Direction - Universal Robots e-Series Original Instructions Manual

7.11.5. Direction

The program node Direction specifies a motion relative to feature axes or TCPs. The robot moves
in along the path specified by the Direction Program Node until that movement is stopped by an
Until condition.
Adding a Direction Movement
1. Under Basic, tap Direction to add a linear movement to your Program Tree.
2. In the Direction field, under Feature, define the linear movement.
Stopping a Direction Movement
1. In the Direction field, tap the Add Until button to define and add stop criteria to your Program
Tree.
You can add Direction Vector settings, for Tool Speed and Tool Acceleration, to define the vector
direction for linear motion, allowing for advanced uses as:
• defining linear motion relative to multiple feature axes
• computing the direction as a mathematical expression
The Direction Vectors defines a custom code expression that is resolved to a unit vector. For
example, Direction vectors of [100,0,0] and [1,0,0] have the exact same effect on the robot; use the
Speed Slider to moving along the x-axis at a desired speed. The values of the numbers in the
direction vector only matter relative to each other.
e-Series 80
7. Program Tab
Software Manual