Control & Logic¶

And¶

Applies logic AND to two boolean input parameters.

	Name	Data type	Description
Inputs	Value 1	Boolean	First boolean value.
	Value 2	Boolean	Second boolean value.

Outputs	Result	Integer	Result of the logic operation.

Compare - Boolean¶

Compares two boolean values.

	Name	Data type	Description
Inputs	Operand 1	Boolean	The first operand of the comparison.
	Condition	Select	Select to test whether two variables are equal or unequal. Available are == and !=.
	Operand 2	Boolean	The second operand of the comparison.

Outputs	Result	Boolean	The result of the comparison.

Compare - Float¶

Compares two float values.

	Name	Data type	Description
Inputs	Operand 1	Float	The first operand of the comparison.
	Condition	Select	Select one of the comparators. Available are: ==, !=, <, >, <=, >=
	Operand 2	Float	The second operand of the comparison.

Outputs	Result	Boolean	The result of the comparison.

Compare - Integer¶

Compares two integer values.

	Name	Data type	Description
Inputs	Operand 1	Integer	The first operand of the comparison.
	Condition	Select	Select one of the comparators. Available are: ==, !=, <, >, <=, >=
	Operand 2	Integer	The second operand of the comparison.

Outputs	Result	Boolean	The result of the comparison.

Compare - String¶

Compares two string values.

	Name	Data type	Description
Inputs	Operand 1	String	The first operand of the comparison.
	Condition	Select	Select one of the comparators. Available are: ==, !=, <, >, <=, >=
	Operand 2	String	The second operand of the comparison.

Outputs	Result	Boolean	The result of the comparison.

Compare - Joints¶

Compares two joints states to be equal up to a given limit.

	Name	Data type	Description
Inputs
	Joints 1	Joints	Angles of the first joints state in degrees.
	Joints 2	Joints	Angles of the second joints state in degrees.
	Allowed Joint Error	Float	The maximum allowed difference between two respective joint angles in degrees.
	Ignore Joints 4-6	Boolean	If set, joints 4, 5 and 6 are ignored for comparation.

Outputs	Success	Boolean	True, if all tested differences of respective joints are within the allowed joint error. False otherwise.

Compare - Pose¶

Compares two poses to be equal up to a given limit.

	Name	Data type	Description
Inputs
	Pose 1	Pose	The first pose to compare.
	Pose 2	Pose	The second pose to compare.
	Compare Position	Boolean	If set, the translational offset is used for the result.
	Compare Orientation	Boolean	If set, the rotational offset is used for the result.
	Maximum Translation Distance	Float	The maximum allowed translational difference between the two positions in meters.
	Maximum Rotation Distance	Float	The maximum allowed rotational difference between the two orientations in meters.

Outputs	Success	Boolean	True, if the translational and/or (depending on the given setting) rotational distance are within the given limits. False otherwise.
	Translation Distance	Float	The calculated translational offset between both poses.
	Rotational Distance	Float	The calculated rotational offset between both poses (angle shortest path).

Condition¶

Depending on a boolean value either the 'Then' or the 'Else' section is executed. A true input value will result in the execution of the 'Then' section of this function block. Otherwise the 'Else' section is executed.

	Name	Data type	Description
Inputs	Boolean	Condition	If true, is the 'Then' section executed, if false, is the 'Else' section executed.

Outputs	-

Loop Do While¶

Executes the contents of the function block at least once. After the initial loop the contents are repeated as long as the condition applies.

	Name	Data type	Description
Inputs	Boolean	Condition	While true, is the content of the block repeatedly executed.

Outputs	-

Loop For¶

Repeats the contents of the function block until the given amount of cycles is reached.

	Name	Data type	Description
Inputs	Boolean	Turns	The number of times the content of the block is executed.

Outputs	-

Not¶

Inverts a boolean value.

	Name	Data type	Description
Inputs	Input	Boolean	The boolean value to invert.

Outputs	Result	Boolean	The inversion result.

Or¶

Applies logic OR to two boolean parameters.

	Name	Data type	Description
Inputs	Value 1	Boolean	First boolean value.
	Value 2	Boolean	Second boolean value.

Outputs	Result	Boolean	Result of the logic operation.

Parallel¶

Allows two program parts to be executed at the same time. The block is left when both parts are finished. It will wait for the slower block before continuing. It is not possible to have movement function blocks in more than one branch.

	Name	Data type	Description
Inputs	-

Outputs	-

Switch Case - Direct Input¶

Executes one of multiple program branches depending on the given input 'Branch Index'. Select index 0 to execute the first program branch.

	Name	Data type	Description
Inputs	Branch Index	Integer	Index of the branch which will be executed.

Outputs	-

Switch Case - Match String¶

Executes one of multiple program branches depending on the given string input. The string input is compared against 'Match Strings'. If a 'Match String' is identical to the input string then its linked branch is executed. If multiple 'Match Strings' are matching to the input string then only the first linked branch is executed.

	Name	Data type	Description
Inputs	String Match Input	String	This string input is compared against the 'Match Strings' of the cases to select one branch to execute.
	Default Branch	Integer	If no 'Match String' of the Cases matches the 'String Match Input', then the branch with the here given index is executed; the first case has index 0, and so on.

	Match String	String	String that has to match to the input string to execute the branch noted in the case.
	Select Branch	Integer	Index of the branch to execute when the case is selected.
Outputs	-