Structure Tab - Universal Robots UR5 with CB2 User Manual

3.4.28 Program
The program structure tab gives an opportunity for inserting, moving, copy-
ing 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 command.
3) Press the button for the command type you wish to insert. For adjusting the
details for the new command, go to the Command tab.
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. Variables must be assigned values before being used.
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Structure Tab

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3.4. Programming
UR5