Universal Robots UR10/CB3 User Manual

1.23.12. Installation → Features
A Feature represents an object defined by a six dimensional pose (position and orientation)
relative to the robot base. You can name a feature for future reference.
Some subparts of a robot program consist of movements executed relative to specific objects
other than the base of the robot arm. These objects can be tables, other machines, workpieces,
vision systems, blanks, or boundaries existing around the robot arm.
The robot includes two predefined features, listed below, with poses defined by the configuration
of the robot arm itself:
• The Base feature is located with origin in the centre of the robot base (see figure 15.1).
• The Tool feature is located with origin in the centre of the current TCP (see figure 15.2).
UR10 140 User Manual
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Universal Robots UR10/CB3 Specifications

General

Brand	Universal Robots
Model	UR10/CB3
Category	Robotics
Language	English