Fixed Waypoint

Description

A fixed waypoint is the standard waypoint used in PolyScope.

It is a fixed location, relative to a set coordinate system (the robot’s base by default), that the robot will move back to when prompted.

A fixed position waypoint is taught by physically moving the robot arm to the position. You can move the robot with the Freedrive or with the Move Tab in PolyScope.

 

When to use:

  • If the robot must move to a specific location (to move around equipment or move to a specific location for operation like picking or placing).

  • When you create an entire robot program using fixed waypoints relative to a location, i.e. relative to the robot base. You can move the robot, and redefine the location of base of the robot, then the robot program will work on the new location.

When NOT to use: 

  • When you want the location of the waypoint to be dynamic. Fixed waypoints are static positions and only change when purposely updated or when they’re relative to a coordinate system.

 
Fixed Waypoint

You can add a fixed waypoint to your robot program, when you add a Move command. There is no difference, if the Move command is a MoveJ, a MoveL or a MoveP.

 

To add a fixed waypoint to a robot program

  1. In the Program tab, tap Basic.

  2. Add a move command

  3. Select the automatically generated waypoint

    1. Notice the selector is automatically set to

  4. Tap to access the Move tab

  5. Set the waypoint

  6. Tap the check mark to save the waypoint and return to the Program tab
Example

When you are removing a work piece from a chuck in a machine tending application, make the waypoint a fixed position to avoid any contact with equipment.1