Universal Robots UR10/CB3, User Manual

Page: 151 / 249

Using Move here
Tap Move here to move the robot arm towards the selected feature. At the end of this movement,
the coordinate systems of the feature and the TCP will coincide.
Point feature
The point feature defines a safety boundary or a global home configuration of the Robot arm. The
point feature pose is defined as the position and orientation of the TCP.
Adding a Point
1. In Installation, select Features .
2. Under Features select Point .
Line feature
The line feature defines lines that the robot needs to follow. (e.g., when using conveyor tracking).
A line l is defined as an axis between two point features p1 and p2 as shown in figure 15.3 .
User Manual 143 UR10
C
o
p
yr
ig
h
t
©
2
0
0
9
–
2
0
2
0
b
y
U
n
iv
e
rs
a
l
R
o
b
o
ts
A
/S
.
A
ll
ri
g
h
ts
re
s
e
rv
e
d
.