Move to a point defined by variables

Technical Questions
1

Hello everyone,

I’m totally new with Universal Robots and I would appreciate some help with a project I’m working on.

Can i move to a waypoint defined by a variable?

I have to set a series of points over a surface in a series of columns and rows, so instead of defining them one by one (mostly, because if there’s any update on the project, the coordinates might change, and I don’t want to change a hundred points manually), I was considering using a matrix with variables for this.

So far, I defined a variable for the X, Y, Z, rX, rY, and rZ values, and a variable with those coordinates to create a position. I also creates an “increment” variable to go to the next rows or columns. I managed to make this work, so the basics I’m getting it.

The issue is, can I move to one of those points directly to see that the position is correct? Like the “Move here” button.

Thank you very much!

2

You cannot, no. :slight_smile: You’ll have to input them manually in the Move tab.

3

Are you asking for PolyScope 5 or for PolyScope X?

On PolyScope 5 you can create a variable with a pose and then create a program with a move instruction going to that pose:

remmina_Local URSim_192.168.56.101_20260619-064452
remmina_Local URSim_192.168.56.101_20260619-0644521280×800 27.6 KB

remmina_Local URSim_192.168.56.101_20260619-064512
remmina_Local URSim_192.168.56.101_20260619-0645121280×800 48.6 KB

4

Thanks for the answer. Yes, that’s what i did. The issue is that I have to “run” the program to go into that position, right? And it’s not like I can approach slowly, it will go with the program speed.

5

Yes, it’s a workaround, for sure. But if speed is your concern, you can always use the speed slider to go slower.

6

An approach I have used that may or may not help.. if the positions you have are a few positions shifted around the workspace repeatedly. You can teach those positions in a feature plane (created in installation tab). You can then in your program move the coordinates of the feature plane to shift all of the points taught in it.

If you positions are all unique with different orientations then it wont really help, but if they are a few different positions just shifted around the workspace you can then use the move to position in the programming screen to test them (but they will always go to the default value of the feature plane taught in the installation tab until you actually run the program).

7

Have you considered using the palletization node? It’s in the ‘template’ section, defines a number of rows and columns automatically. If the rows and columns all move because a fixture got bumped or you want to offset everything differently, you can reference the 4 corners of the array to a feature plane (as someone else mentioned). In this manner, if anything changes, you reteach the feature to a new location and all of the referenced points will follow.