Hi, I need to store multiple positions/poses of the robot to access them later in the program. The number of positions depends on the user input - the query works perfectly. I thought I could just make a loop and fill each pose into an array but it does not work. I know how to store a pose in a si…

Two ways that I can think of are sub programs (which cannot be nested I just found out) or the Assignment node. The Assignment node is like an If/Then for process groups and the value can be established either by the operator or by a variable expression generated by the program. In my programs, I u…

You can create an array/list of poses: pose_list = [p[0,0,0,0,0,0], p[0,0,1,0,0,0], p[0,0.5,0,0,0,0]] You can also write one value into an existing array: pose_list[2] = p[0.3,0,0,0,0,0] The problem is that you cannot create an empty array with n elements. You can for example parametrize the arr…

I found one way to nest subprograms that you can see here (apologies for the CB): [image] Subroutine within subprogram Technical Questions Just whipped up a quick example. for CB series calling a subprogram within a subprogram using a script block. And remember, you may o…

Hi, thanks for all your replies and the help. I managed to use a script to generate the array with the needed size, just like your last example with the parametrized array creation. It works fine, I can store multiple poses into that and move to them, for example in a loop (right after creation t…

What is the exact error you get when it tries to access the array? Can you see your array in the “Variables” tab while the program is running?

It works now, thanks :slight_smile:

How to store multiple poses?

General Application Help: How do I?

terryc August 24, 2021, 11:08pm 4

I found one way to nest subprograms that you can see here (apologies for the CB):

Topic		Replies	Views
Access pose list to re-teach positions without program modification Technical Questions programming , arrays	4	913	April 3, 2020
Creating new script in URScript language URScript welding	10	1788	August 15, 2022
Safe variables with an variable name URScript	1	556	March 18, 2022
Defining a large array in Installation Variables URCap Development	2	144	September 2, 2025
Declaring an array of points URScript	2	1954	September 16, 2022

How to store multiple poses?

Related topics