13.12 Installation
→
Features
13.12.4
Plane Feature
Select the plane feature when you need a frame with high precision: e.g., when working with a
vision system or doing movements relative to a table.
Adding a plane
1. In Installation, select
Features
.
2. Under Features select
Plane
.
Teaching a plane
When you press the plane button to create a new plane, the on-screen guide assists you creating a
plane.
1. Select Origo
2. Move robot to define the direction of the positive x-axis of the plane
3. Move robot to define the direction of the positive y-axis of the plane
The plane is defined using the right hand rule so the z- axis is the cross product of the x-axis and
the y-axis, as illustrated below.
NOTE:
You can re-teach the plane in the opposite direction of the x-axis, if
you want that plane to be normal in the opposite direction.
Modify an existing plane by selecting Plane and pressing Modify Plane. You will then use the same
guide as for teaching a new plane.
13.12.5
Example: Manually Updating a Feature to Adjust a Program
Consider an application where multiple parts of a robot program is relative to a table. Figure 13.4
illustrates the movement from waypoints
wp1
through
wp4
.
CB3
II-58
Version 3.10
Cop
yr
ight
©
2009–2019
b
y
Univ
ersal
Robots
A/S
.
All
rights
reser
v
ed.
Summary of Contents for UR3/CB3
Page 1: ...Universal Robots UR3 CB3 Original instructions en US version...
Page 2: ......
Page 3: ...Universal Robots UR3 CB3 Euromap67 Version 3 10 Original instructions en US Version...
Page 12: ...UR3 CB3 x Version 3 10 Copyright 2009 2019 by Universal Robots A S All rights reserved...
Page 15: ...Part I Hardware Installation Manual...
Page 16: ......
Page 36: ...UR3 CB3 I 22 Version 3 10 Copyright 2009 2019 by Universal Robots A S All rights reserved...
Page 66: ...UR3 CB3 I 52 Version 3 10 Copyright 2009 2019 by Universal Robots A S All rights reserved...
Page 90: ...UR3 CB3 I 76 Version 3 10 Copyright 2009 2019 by Universal Robots A S All rights reserved...
Page 92: ...UR3 CB3 I 78 Version 3 10 Copyright 2009 2019 by Universal Robots A S All rights reserved...
Page 99: ...Part II PolyScope Manual...
Page 100: ......
Page 225: ...Part III EUROMAP 67 Interface...
Page 226: ......