Is it possible to call UR function / subprograms in master-control mode?

Q&A
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1

I am running Mech-Viz & Vision 2.1 with a Nano Ultra 2.4.1, connecting to a UR10E with an EIH setup.

I am using the Mech-Viz system to drive the robot, with Viz controlling the logical flow of the program, and the arm acting in master-control mode. I am running into a situation where using the UR’s “move until” function, as well as other UR specific functions, would be helpful.

Is there any way for me to call UR specific function / URscript sub-processes through the Mech-Viz program, such as using a move until setup on the UR side?

2

The master control can only support the basic motion types. “Move until” is not supported.