Hello, So im new to the Universal Robot game. My company had recently just purchased a UR5 and it it is my job to learn everything about it and program it once an application is found. So ive spent the last couple weeks setting up, and playing with all the different structure editor options and such. But there is one thing where im struggling, and that is the variable features. ( pose_add, pose_sub, etc.) Ive looked all over the internet and ive yet to come across anything that explains to me what these are and definitions of each one. Does anyone know where i can find more information on these? Or is it kind of just learn as you go/play with them? Thanks in advanced for the help!

Great! Thank you so much!