OnRobot RG6 - Page 72

Operation
72
NOTE:
To make a program run automatically when the Compute Box is powered
on just leave the program running while you power the Compute Box off.
To start a new program, click on the New button.
• To add a new row, click on the Add new conditions and commands.
• To delete a row, click on the icon.
• To move the row up or down click on the icons.
NOTE:
Conditions and commands are executed from the top to the bottom.
Same commands at the bottom can override the ones at the top.
• To duplicate a row click on the icon.
• To disable a row (not to be executed) uncheck the checkbox next to the row number.
The rows must have at least one condition and at least one command to be executed.
Conditions
Conditions are the input fields marked by blue.
There are two types of conditions:
• Digital Input type - like DI4=1
• Device specific value type - like HEX Fx > 10N
These types of conditions can be combined with AND or OR logic to form a more complex condition:
If ( DI4=1 ) OR (HEX Fx > 10 N AND HEX Fx < 20N )
Condition is true if Fx is between 10N and 20N or robot has signaled high in Digital Input 4.
Digital inputs (DI1-DI8) can have the following three states: (click to cycle through the states)
• - Don’t care (this bit is masked and will give true result for the bit)
• - give logic true if Input bit is low
• -give logic true if Input bit is high