Universal Robots UR10/CB3, Руководство пользователя

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feature space of the selected feature. There are a few circumstances that need detailed
explanation:
The selected feature has no effect on relative waypoints. The relative movement is always
performed with respect to orientation of the Base .
When the robot arm moves to a variable waypoint, the Tool Center Point (TCP) is calculated as
the coordinates of the variable in the space of the selected feature. Therefore, the robot arm
movement for a variable waypoint changes if another feature is selected.
If any of the features in the currently loaded installation are selected as variable, these
corresponding variables are also selectable in the feature selection menu. If a feature variable
(named with the name of the feature suffixed by “_var”) is selected, robot arm movements
(except to
Relative waypoints ) are relative to the actual value of the variable when the program is
running. The initial value of a feature variable is the value of the actual feature as configured in
the installation. If this value is modified, then the movements of the robot change.
Time
Speed
Acceleration
Cruise
Deceleration
16.1: Speed profile for a motion. The curve is divided into three segments: acceleration, cruise
and deceleration. The level of the cruise phase is given by the speed setting of the motion,
while the steepness of the acceleration and deceleration phases is given by the acceleration
parameter.
UR10 164 User Manual
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