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Blend Trajectories

Description Blending enables the robot to smoothly transition between two trajectories, without

stopping at the waypoint between them.

Blending makes your robot program run faster because, when you create a smooth

transition between trajectories, you avoid slowing down an acceleration between

trajectories.

Blend

Trajectories

WP_1

WP_2

WP_3

WP_1

WP_2

WP_3

33.1:

Joint space (MoveJ) vs. cartesian space (MoveL) movement and blend.

UR10e 214 User Manual

1. Preface12
Part I Hardware Installation Manual15
2. Safety16
- 2.1. Validity and Responsibility17
- 2.2. Limitation of Liability17
- 2.3. Safety Message Types18
- 2.4. General Warnings and Cautions19
- 2.5. Intended Use21
- 2.6. Risk Assessment23
- 2.7. Pre-Use Assessment25
- 2.8. Emergency Stop26
- 2.9. Movement Without Drive Power27
- 2.10. Safety-related Functions and Interfaces28
3. Mechanical Interface38
- 3.1. Workspace and Operating Space38
- 3.2. Mounting Description39
- 3.3. Securing the Robot Arm40
- 3.4. Securing Tool41
- 3.5. Control Box Clearance42
- 3.6. Maximum Payload44
4. Electrical Interface46
- 4.1. Electrical Warnings and Cautions46
- 4.2. Controller I/O48
- 4.3. Safety I/O50
- 4.4. Three Position Enabling Device54
- 4.5. General Purpose Digital I/O56
- 4.6. General Purpose Analog I/O57
- 4.7. Remote ON/OFF Control58
- 4.8. Control Box Bracket60
- 4.9. Ethernet60
- 4.10. Mains Connections61
- 4.11. Robot Connections: Robot Cable63
- 4.12. Robot Connections: Base Flange Cable64
- 4.13. Tool I/O65
- 4.14. Tool Power Supply66
- 4.15. Tool Digital Outputs67
- 4.16. Tool Digital Inputs68
- 4.17. Tool Analogue Inputs68
- 4.18. Tool Communication I/O69
5. Transportation70
- 5.1. Transport Without Packaging71
6. Maintenance and Repair72
- 6.1. Cleaning73
- 6.2. Inspection73
7. Disposal and Environment77
8. Certifications78
9. Stopping Time and Stopping Distance80
- 9.1. Robot Scenario 1: 10 kg.80
- 9.2. Robot Scenario 2: 12.5 kg.83
10. Declarations and Certificates (original EN)87
11. Warranty Information89
12. Certificates90
13. Applied Standards95
14. Technical Specifications99
15. Safety Functions Table 1100
- 15.1. Table 1a108
- 15.2. Table 2109
Part II PolyScope Manual113
16. Introduction115
- 16.1. Robot Arm Basics115
- 16.2. Robot Arm Installation116
- 16.3. PolyScope Overview120
  - 16.3.1. Icons/Tabs On PolyScope121
- 16.4. Freedrive123
  - 16.4.1. Freedrive Panel125
- 16.5. Backdrive126
  - 16.5.1. Backdrive Inspection128
- 16.6. Quick System Start-up130
- 16.7. The First Program131
- 16.8. Robot Cyber Security133
- 16.9. Operational Mode Selection134
17. Software Safety Configuration137
- 17.1. Setting a Software Safety Password139
- 17.2. Changing the Software Safety Configuration140
- 17.3. Applying a New Software Safety Configuration141
  - 17.3.1. Safety Checksum141
- 17.4. Safety Configuration without Teach Pendant143
- 17.5. Software Safety Modes143
- 17.6. Software Safety Limits144
  - 17.6.1. Robot Limits144
  - 17.6.2. Joint Limits146
- 17.7. Safety I/O149
- 17.8. Software Safety Restrictions153
  - 17.8.1. Tool Direction Restriction161
  - 17.8.2. Tool Position Restriction163
- 17.9. Safe Home Position167
18. Run Tab169
- 18.1. Move Robot into Position172
- 18.2. Program173
- 18.3. Variables173
19. Program Tab175
- 19.1. Robot Program Configuration177
- 19.2. Program Tree Toolbar179
- 19.3. Expression Editor188
- 19.4. Starting a Program from a Selected Program Node189
- 19.5. Using Breakpoints in a Program190
- 19.6. Single Step in a Program193
- 19.7. Basic program nodes195
- 19.8. Advanced program nodes238
- 19.9. Templates250
- 19.10. URCaps269
20. Installation Tab278
- 20.1. TCP Configuration278
  - 20.1.1. Teaching TCP Position280
- 20.2. Payload281
- 20.3. Mounting284
- 20.4. I/O Setup285
- 20.5. Installation Variables288
- 20.6. Startup291
- 20.7. Tool I/O292
  - 20.7.1. Analog Input - Communication Interface292
  - 20.7.2. Digital Output Mode293
- 20.8. Smooth Transition293
- 20.9. Home294
- 20.10. Conveyor Tracking Setup295
- 20.11. Screwdriving Setup296
- 20.12. Safety299
- 20.13. Features299
  - 20.13.1. Feature Edit306
- 20.14. Fieldbus307
21. Move Tab317
- 21.1. Pose Editor Screen320
22. I/O Tab322
- 22.1. MODBUS324
23. Log Tab325
24. Program and Installation Manager328
- 24.1. File Manager332
25. Hamburger menu333
- 25.1. About333
  - 25.1.1. Help334
- 25.2. Settings336
- 25.3. Shutdown Robot351
26. Glossary352
- 26.1. Index353

Brand	Universal Robots
Model	UR e Series
Category	Robotics
Language	English

Universal Robots UR e Series User Manual

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