Universal Robots UR3/CB3, Оригинальное руководство пользователя

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13.12 Installation
→
Features
Robot Program
MoveJ
S1
MoveL # Feature: P1_var
wp1
wp2
wp3
wp4
Figure 13.4: Simple program with four waypoints relative to a feature plane manually updated by changing
the feature
The application requires the program to be reused for multiple robot installations where the posi-
tion of the table varies slightly. The movement relative to the table is identical. By defining the table
position as a feature
P1
in the installation, the program with a
MoveL
command configured relative
to the plane can be easily applied on additional robots by just updating the installation with the
actual position of the table.
The concept applies to a number of Features in an application to achieve a flexible program can
solve the same task on many robots even though if other places in the work space varies between
installations.
13.12.6 Example: Dynamically Updating a Feature Pose
Consider a similar application where the robot must move in a specific pattern on top of a table to
solve a particular task (see 13.5).
Figure 13.5: A MoveL command with four waypoints relative to a plane feature
The movement relative to P1 is repeated a number of times, each time by an offset o . In this example
the offset is set to 10 cm in the Y-direction (see figure 13.6, offsets O1 and O2 ). This is achieved
using pose add() or pose trans() script functions to manipulate the variable. It is possible to switch
to a different feature while the program is running instead of adding an offset. This is shown in
the example below (see figure 13.7) where the reference feature for the
MoveL
command
P1 var
can
switch between two planes P1 and P2 .
Version 3.10
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