Universal Robots UR12e User Manual page 105

1.
To create a
simple
2.
program
3.
4.
5.
6.
7.
8.
User Manual
On PolyScope, in the Header File Path, tap New... and select Program.
Under Basic, tap Waypoint to add a waypoint to the program tree. A default MoveJ is
also added to the program tree.
Select the new waypoint and in the Command tab, tap Waypoint.
On the Move Tool screen, move the robot arm by pressing the move arrows.
You can also move the robot arm by holding down the Freedrive button and pulling the
Robot Arm into desired positions.
Once the robot arm is in position, press OK and the new waypoint displays as
Waypoint_1.
Follow steps 2 to 5 to create Waypoint_2.
Select Waypoint_2 and press the Move Up arrow until it is above Waypoint_1 to
change the order of the movements.
Stand clear, hold on to the emergency stop button and in the PolyScope Footer, press
Play button for the Robot Arm to move between Waypoint_1 and Waypoint_2.
Congratulations! You have now produced your first robot program that moves the
Robot Arm between the two given waypoints.
NOTICE
1. Do not drive the robot into itself or anything else as this may cause
damage to the robot.
2. This is only a quick start guide to show how easy it is to use a UR
robot. It assumes a harmless environment and a very careful user.
Do not increase the speed or acceleration above the default values.
Always conduct a risk assessment before placing the robot into
operation.
WARNING
Keep your head and torso outside the reach (workspace) of the robot. Do
not place fingers where they can be caught.
106 UR12e