While the expression itself is edited as text, the expression editor has a number of buttons and
functions for inserting the special expression symbols, such as * for multiplication and ≤ for less
than or equal to. The keyboard symbol button in the top left of the screen switches to text-editing
of the expression. All defined variables can be found in the Variable selector, while the names of
the input and output ports can be found in the Input and Output selectors. Some special
functions are found in Function.
The expression is checked for grammatical errors when the Ok button is pressed. The Cancel
button leaves the screen, discarding all changes.
An expression can look like this:
digital_in[1] True and analog_in[0]<0.5
23.4. Command: Variables Initialization
This screen allows setting variable values before the program (and any threads) start executing.
Select a variable from the list of variables by clicking on it, or by using the variable selector box. For
a selected variable, an expression can be entered that will be used to set the variable value at
program start.
If the Keep value from previous run check-box is selected, the variable will be initialized to the
value found on the Variables tab (see23.10. Variables Tabon page151). This permits variables to
maintain their values between program executions. The variable will get its value from the
expression if the program is run for the first time, or if the value tab has been cleared.
A variable can be deleted from the program by setting its name to blank (only spaces).
UR5e 146 User Manual
23.Program Tab
Copyright © 2009–2021 by UniversalRobotsA/S. All rights reserved.
To Next Page
Loading...
Need help?
General
