Structure Tab - Universal Robots UR3/CB3 User Manual

14.30 Structure Tab

The program structure tab gives an opportunity for inserting, moving, copying and
removing the various types of commands.
To insert new commands, perform the following steps:
1) Select an existing program command.
2) Select whether the new command should be inserted above or below the selected
3) Press the button for the command type you wish to insert. For adjusting the
Commands can be moved/cloned/deleted using the buttons in the edit frame. If a
command has sub-commands (a triangle next to the command) all sub-commands are
also moved/cloned/deleted.
Not all commands fit at all places in a program. Waypoints must be under a Move
command (not necessarily directly under). ElseIf and Else commands are required
to be after an If. In general, moving ElseIf commands around can be messy. Vari-
ables must be assigned values before being used.
CB3
command.
details for the new command, go to the Command tab.
II-108
14.30 Structure Tab
Version 3.3.3