igus ReBeL - Program Flow

7 PROGRAMMING A ROBOT WITH IRC
Under "Opening" you can set the desired opening, measured in percent. A value of 0% stands for a
completely closed gripper, 100% for a completely opened gripper. For grippers that can only be either
fully opened or fully closed, the threshold between these states is 50%.
7.5 Program Flow
7.5.1 Conditions
Conditions can be used in if-then-else statements, loops, and as abort conditions in motion state-
ments. Conditions can be combinations of digital inputs, global signals, Boolean operations, and
comparisons. Examples:
DIn23 True if digital input 23 is set.
DIn23 AND !DIn27 True if digital input 23 is set and 27 is not set.
modelclass = 31 True if the variable "modelclass" is 31
mempos.x > 350.0 True if the x component of the position variable "mempos" is greater
than 350.
The syntax of conditional statements is defined by the following EBNF definition:
Expression : = ["!"] <Boolean> <BooleanOperator> <Boolean> ...
Boolean : = <BooleanConstant> | <Expression> | "(" <Expression> ")" | Com-
pExpression | "(" <CompExpression> ")" | <DigitalInputs> | "(" <Dig-
italInputs> ")"
BooleanOperator : = "And" | "Or"
BooleanConstant : = "True" | "False"
Digital Inputs : = <ChannelType> <ChannelId>
ChannelType : = "Din" | "GSig"
Channelld : = Integer value
CompExpression : = <CompValue> <CompOperator> <CompValue>
CompValue : = <Variable> | <Number>
Variable : = <Numbervariable> | < PositionComponent>
Numbervariable : = Name of a number variable
Positions component : = <Position variable> "." <Component>
PositionVariable : = Name of a position variable
Component : = "x" | "y" | "z" | "A" | "B" | "C" | "A1" | "A2" | "A3" | "A4" | "A5" | "A6" |
"E1" | "E2" | "E3"
Number : = Integer or floating point number
CompOperator : = "=" | ">" | "<" | ">=" | "<="
7.5.2 Stop
The command "Stop" stopps the program execution.
It is available through the menu item "Flow" → "Stop".
7.5.3 Pause
The Pause command pauses the execution of the program. The execution can be resumed later by
the user.
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