ROBOTIQ CNC Machine Tending Kit, Instruction Manual

Page: 59 / 144

Robotiq CN C M achine Tending Kit Instruction M anual
5.3.2. Setting Up a Multipoint Path
Creating the Initial Waypoint
1. In the Robot Program tree, select MoveJ To w aypoint , as shown in Fig. 5-8.
2. A menu is displayed in the Command tab.
3. Using the Freedrive mode or the Universal Robots Move menu, move the robot arm to starting point of your Multipoint Path.
4. Tap Set w aypoint . The UR waypoint interface will pop up and ask you to define the waypoint.
5. Adjust the position as required, then press OK.
6. Tap Edit w aypoint (see 1) to open the UR waypoint interface, and adjust the robot position. This affects all waypoints of the Mul-
tipoint Path.
Fig. 5-9: Available options when setting up a Multipoint Path.
7. Tap Delet e (see 2) to delete the waypoint. Deleting the starting waypoint unassigns it.
8. Tap and hold Move here (see 3) to move the robot to a waypoint.
9. Tap Add line (see 4) to link current waypoint to the next waypoint via a straight line.
10. Tap Add curve (see 5) to link current waypoint to the next waypoint via a curve.
Important
Although paths can be made of straight lines, curves or a mix of both, they move from waypoint to waypoint, as set by the
user.
Important
Curves are not generated and/ or represented according to a spline model; they are rather based on Bézier curves.
Info
For describing the continuity of the curves used in the Multipoint Path node, control points are generated on the bisector of
each waypoint junction (angle). Curves are therefore tangent to those bisectors.
Creating More Waypoints
1. Using the Freedrive mode or the Universal Robots Move menu, move to the next position.
2. To add a waypoint to the program tree, tap Add line or Add curve.
59