Hello all,

I have a UR5 with a CB2 controller and have made a few programs with the Robotic 2 finger 85mm gripper. I have used multiple subroutines in these programs calling open, close, and various position and force commands throughout the program. For this reason I cannot simply call this program in a parent program with conditional statements as it is against the UR's nature to call nested subroutines. That being said I've attempted to use the script code created by the robot of my routine in a parent program with conditional statements and have had no luck getting functionality out of it. Can anyone help me with this problem ?

I've also written my own script code on the pendant simply "Rq_open and Rq_close and rq_set_speed " the robot runs the script code but then shuts down and goes to the initializing screen. I've never written my own script code before and I am wondering if the robot is trapped in the code and just shuts down after running it. I put in end and return commands getting syntax errors. Any suggestions ??

@RoboBar why not just use the Robotiq script commands?  If you want to send me your program I can take a look at it if you don't want to post it publicly feel free to email it to me at mbush@hitebotics.com