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How to use secondary programs
Here it is shown how secondary programs can be used on Universal Robots.
Imagine the controller is executing this primary program:
movej([0.9434381127910002, -1.3082063255028469, 2.2063341418137945, -2.6507188134210273, -1.081363649387086, 4.80585136204575], a=1.3962634015954636, v=1.0471975511965976)
movej([0.9433155477260482, -1.014172108307441, 2.246293286726412, -2.9852336083709154, -1.0813798520591593, 4.805802742045307], a=1.3962634015954636, v=1.0471975511965976)
It is then possible to send this secondary program to the controller while the robot continues to move between the two waypoints in the primary program:
Since the example secondary program does not use any physical time to execute, the controller will handle turning digital output 1 on while still executing the primary program.