Modifications of Waypoints

The below example shows you the waypoints generated automatically by enabling Bend tooling.

You will be prompted a warning message when you try to make any changes on the waypoint position or inserting a new waypoint.

The below image shows you where the Waypoint stands for a particular move. The name stands as Pre-bend safe

Now we try to Insert a new Waypoint and change the values of Z,X R along with the Pith and Roll. A new point will be added with the name Pre-bend safe+1. We can use the same technique to insert points for other phases of Bending.

Use the Display field to modify the Waypoint position based on the drop down list - Grip Point, Wrist Point and Robot axes

The linear moves are shown with yellow lines, and the axis-interpolated moves (PTP mode) are shown with white lines. For example, you can see the difference when you switch the waypoint form linear to axis mode: