Using the URCap Plugin
44
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Acc.
: The acceleration parameter of the movement. (m/s
2
, rad/s
2
)
Brake
: The deceleration parameter of the movement. (m/s
2
, rad/s
2
)
Move multiplier
: Defines how many times of the given speed and force/torque
limit is used while the robot is not searching the top of the stack but moving
to/from the starting point.
Begin at SP:
If enabled, the command will start with moving to the Starting
position (SP) at the beginning of its execution.
End at SP:
If enabled, the command will exit with moving to the Starting position
(SP) at the end of its execution.
Generate warning (…):
If enabled then a pop-up message (blocking) appears if
the next item is not found or the stack is full.
If disabled, then no pop-up message is shown but the user can handle any possible
errors by the return value of the command. The command updates the
of_return
variable once the command exit. This global variable can be used with the UR’s built
in
If
conditional expressions (for example:
if of_return == 1
then do
something).
F/T Stack Command Return Values
3.3.12
F/T Waypoint
Command
The
F/T Waypoint
command is used together with the
F/T Move
or
F/T
Search
command, to move the robot along a route. There are three types of
waypoints (Fixed, Relative, and Variable), that can be used in any combination.
Do not use consecutive
F/T Waypoints
that only contain rotations
in the same
F/T Move
command. Use more than one
F/T Move
commands to achieve rotations without translational movements.
Waypoint type:
The type of the waypoint. It can be set to
Fixed, Relative
or
Variable
.
