Universal Robots UR10/CB3, Руководство пользователя

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1.24.7. Command: Variable Waypoint
A waypoint with the position given by a variable, in this case calculated_pos. The variable has to
be a
pose such as
var=p[0.5,0.0,0.0,3.14,0.0,0.0]. The first three are x,y,z and the last three are the orientation given
as a rotation vector given by the vector rx,ry,rz . The length of the axis is the angle to be rotated in
radians, and the vector itself gives the axis about which to rotate. The position is always given in
relation to a reference frame or coordinate system, defined by the selected feature. If a blend
radius is set on a fixed waypoint and the waypoints preceding and succeeding it are variable or if
the blend radius is set on a variable waypoint, then the blend radius will not be checked for
overlap (see
Blend parameters on page 166 ). If, when running the program, the blend radius
overlaps a point, the robot will ignore it and move to the next one.
For example, to move the robot 20 mm along the z-axis of the tool:
var_1=p[0,0,0.02,0,0,0]
Movel
Waypoint_1 (variable position):
Use variable=var_1, Feature=Tool
1.24.8. Command: Direction
The program node Direction specifies a motion relative to feature axes or TCPs. The robot moves
in along the path specified by the Direction Program Node until that movement is stopped by an
Until condition. You must have Until conditions for stopping a direction movement, tap the Add
Until button to define the stop criteria.
UR10 172 User Manual
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