Variable Waypoint

Description

A variable waypoint moves to a position determined by a variable in PolyScope.

The variable must be in the pose URScript format, p[x, y, z, rx, ry, rz], allowing a single waypoint in the Program Tree to be updated by changing the X, Y, Z, RX, RY, or RZ value without manually resetting the waypoint.

 

When to use:

  • If combined with scripting elements.

  • When receiving data from external devices for positioning like cameras, etc.

When not to use:

  • When a specific location must be reached repeatably.

  • If you are not using variables or external devices.

  • If a waypoint must be moved manually, or redefined by either jogging or freedrive.

 
Add a variable waypoint

Add a variable waypoint that can be modified during run through of the robot program.
Add a variable waypoint to a robot program

  1. In the Program tab, hit the basic menu

  2. Add a move command

  3. Select the automatically generated waypoint

    1. Notice that the selector is automatically set to Fixed position.

    2. Change the selector to Variable position.

  4. Select the variable from the drop-down menu.

 
Detail

A waypoint with the position given by a variable, in this case calculated_pose.

 

The variable has to be a pose such as var=p[0.5,0.0,0.0,3.14,0.0,0.0].

 

The first three are x,y,z and the last three are the orientation given as a rotation vector given by the vector rx,ry,rz.

The length of the axis is the angle to be rotated in radians, and the vector itself gives the axis about which to rotate.

The position is always given in relation to a reference frame or coordinate system, defined by the selected feature.

 

If a blend radius is set on a fixed waypoint and the waypoints preceding and succeeding it are variable or if the blend radius is set on a variable waypoint, then the blend radius will not be checked for overlap (see Blending).

If, when running the program, the blend radius overlaps a point, the robot will ignore it and move to the next one.