Universal Robots UR10/CB3, Руководство пользователя

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Shared parameters
The shared parameters in the bottom right corner of the Move screen apply to the movement
from the previous position of the robot arm to the first waypoint under the command, and from
there to each of the following waypoints. The Move command settings do not apply to the path
going
from the last waypoint under that Move command.
TCP selection
The TCP used for the waypoints under this Move command can be selected from the drop-down
menu. It is possible to select from user defined TCPs from the installation, the active TCP or
simply using the tool flange. If a user defined TCP or the active TCP is selected, the motion
under this Move command will adjusted be with respect to this. If
Use Tool Flange is selected,
no TCP is used and the motion under this Move command will be with respect to the tool flange
(i.e. no adjustments to the motion).
If the active TCP for this motion is determined during runtime of the program, it needs to be set
dynamically using the Set command (see
1.24.11. Command: Set on page 176 ) or by using script
commands. For further information about configuring named TCPs (see 1.23.6. Installation
→
TCP Configuration on page 127 ).
Feature selection
The feature spaces the waypoints under the Move command, that should be represented when
specifying these waypoints (see section
1.23.12. Installation
→
Features on page 140 ). This
means that when setting a waypoint, the program will remember the tool coordinates in the
User Manual 163 UR10
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