14.6 Command: Fixed Waypoint
14.6 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.
Version 3.10
Copyright © 2009–2019 by Universal Robots A/S. All rights reserved.
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