OB7 Collaborative Robot User Manual Version 0.6
OB7 Control Functions / 105
IF DO/ELSE DO TILE
The ELSE/DO tile is used to tell OB7 to respond to a particular condition. If the condition is met,
then the portion of the job that is inside the IF/DO portion of this tile will be done. If the condition
is not met, then the portion of the job inside the ELSE/DO tile will be done.
This tile functions similarly to the IF-DO tile, but give OB7 a choice between performing alternative
parts of the job depending on the circumstances. For Example: The signal from a machine might
specify which of two dierent stations are ready to receive parts. OB7 would use this signal to decide
which station to place the part into. The Else/Do tile will wrap itself around two dierent
portions of the job. OB7 will perform ONLY ONE of these, depending on the circumstances.
The conditions can be:
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