Universal Robots UR10/CB3, Руководство пользователя

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1.24.5. Command: Fixed Waypoint
A point on the robot path. Waypoints are the most central part of a robot program, telling the
robot arm where to be. A fixed position waypoint is taught by physically moving the robot arm to
the position.
Setting the waypoint
Press this button to enter the Move screen where you can specify the robot arm’s position for
this waypoint. If the waypoint is placed under a Move command in linear space (
moveL or
moveP ), there needs to be a valid feature selected at that Move command, in order for this button
to be pressable.
Waypoint names
Waypoints automatically get a unique name. The name can be changed by the user. By selecting
the link icon, waypoints are linked and share position information. Other waypoint information
such as blend radius, tool/joint speed and tool/joint acceleration is configured for individual
waypoints even though they may be linked.
Blending
Blending enables the robot to smoothly transition between two trajectories, without stopping at
the waypoint between them.
User Manual 165 UR10
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