14.32 Structure Tab
14.32 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 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.
Version 3.10
Copyright © 2009–2019 by Universal Robots A/S. All rights reserved.
II-115 CB3
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