Universal Robots UR12e User Manual page 118

Detail MoveP moves the tool linearly with constant speed with circular blends, and is intended for
some process operations, like gluing or dispensing. The size of the blend radius is by
default a shared value between all the waypoints. A smaller value will make the path turn
sharper whereas a higher value will make the path smoother. While the robot arm is moving
through the waypoints with constant speed, the robot control box cannot wait for either an
I/O operation or an operator action. Doing so might stop the robot arm's motion, or cause a
robot stop.
MoveCircle The MoveCircle command creates a circular movement, by creating a half circle.
You can only add CircleMove via a MoveP command.
1.
Add a
MoveCircle
2.
command
3.
4.
5.
6.
Detail The robot starts the circular movement from its current position, or start point, and moves
through a ViaPoint specified on the circular arc, to an EndPoint that completes the circular
movement.
A mode is used to calculate tool orientation, through the circular arc.
The mode can be:
UR12e
In your Robot Program, select the place where you wish to add a Move.
Under Basic, tap Move.
A waypoint is added to the robot program together with the Move node.
Select the move node.
Select the MoveP from the drop-down menu.
Tap Add circle move
Select the orientation mode.
•
Fixed: only the start point is used to define the tool orientation.
•
Unconstrained: the start point transforms to the EndPoint to define tool orientation.
119 User Manual