Ok, now I understand what I need to do. Thank you
I’ll have URscript functions in the installation node and I will create some teachable key_waypoint variables, like in this post: Accessing Waypoints/Poses in UR Script - #9 by ajp, which I will pass into the script functions.
My last uncertainty is how should I call the urscript function IN ANY PLACE in the robot program? what syntax should it have? I know I can write write.append(“Program_Name(variables)”) in the Generate Script, but how to call it in any place I need?