Universal Robots UR-6-85-5-A, User Manual

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3.4. Programming
defined by a number of characteristic points, where the points define the edges
of the pattern. For “Line” this is the two end points, for “Square” this is three of
the four corner points, where as for “Box” this is four of the eight corner points.
The programmer enters the number of positions along each of the edges of the
pattern. The robot controller then calculates the individual pattern positions by
proportionally adding the edge vectors together.
If the positions to be traversed do not fall in a regular pattern, the “List” option
can be chosen, where a list of all the positions is provided by the programmer.
This way any kind of arrangement of the positions can be realized.
Defining the Pattern
When the “Box” pattern is selected, the screen changes to what is shown below.
A “Box” pattern uses three vectors to define the side of the box. These three
vectors are given as four points, where the first vector goes from point one to
point two, the second vector goes from point two to point three, and the third
vector goes from point three to point four. Each vector is divided by the interval
count numbers. A specific position in the pattern is calculated by simply adding
the interval vectors proportionally.
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