Universal Robots UR5/CB3 - Command: Subprogram

14.18 Command: SubProgram
NOTE:
If there are waypoints inside an If expression or inside a Loop ex-
pression with the Check Expression Continuously option,
you can add a stopj() or a stopl() after the expression to gen-
tly decelerate the robot arm. This is valid for both If and Loop
Commands (see section 14.16).
14.18 Command: SubProgram
A Sub Program can hold program parts that are needed several places. A Sub Program can be
a separate file on the disk, and can also be hidden to protect against accidental changes to the
SubProgram.
e-Series II-86 Version 3.11
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