Hi, I have developed a workstation with a robot, and several ‘works process’ the work controller robot generates the program of the robot, as seen in the figure, I want to measure through the cycle timer the time of some tasks, but I could not add instructions to any of the subroutines that are shown, how can you add instructions and which are allowed?
The robot is UR3 of Universal Robot , and i can not open or close gripper.
Thanks for your help