We want to program subroutines to simplify our program but keep hitting an error that doesn't allow subprograms within the subprogram. We are using a UR5 with a CB2 controller.
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We want to program subroutines to simplify our program but keep hitting an error that doesn't allow subprograms within the subprogram. We are using a UR5 with a CB2 controller.
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The lack of nested subprograms is probably the worst design flaw of the UR software.
Making a script file for your reusable functions and then calling those functions as a script node in your program is probably going to be your best bet.