Trajectory Waypoints

Part of the Trajectory panel. This page tells you how to add, examine, and correct waypoints.

The panel sections

The top section shows the robot and the name field of the trajectory.

The middle section is the waypoint table. Each waypoint is one row.

The table has these columns:

Column	Content
Name	Name of the waypoint
Mode	Target data: Joint values or Cartesian pose
Motion	PTP = point-to-point in joint space. LIN = linear in Cartesian space
Pace	The speed value for the segment
Unit	The unit of the pace, see below
Pose	The recorded position

Add waypoints

Button	Function
Teach	Record the current pose of the robot as a waypoint
Pick 3D	Click model geometry in the 3D view to add waypoints
Add XYZ	Type the coordinates for a new waypoint (X, Y, Z, Yaw, Pitch, Roll, in robot coordinates)

Tip: set the pose with Animate Robot or pull the TCP sphere. Then click Teach.

Edit waypoints

Button	Function
Up / Down	Move the selected waypoint in the sequence
Delete	Remove the selected waypoint
Go to	Move the robot to the selected waypoint
Update	Record the current pose into the selected waypoint

Set the mode, the motion, and the pace

A valid waypoint row shows its settings in dropdown lists.

Select the motion type for each waypoint: PTP or LIN.

The pace of a new waypoint comes from the robot's speed properties (PtpSpeedDefault, LinSpeedDefault). See Trajectory.

The unit of the pace changes with the motion type:

• LIN: speed in mm/s, or time in sec.

  

• PTP: percent of the maximum speed (%), or time in sec.

  

Waypoints that are not valid

A red row shows a waypoint that is not valid.

Hold the pointer above the row. The tooltip shows the cause, for example a joint limit or a speed that is not sufficient.

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