23.12. Advanced Program Nodes
23.12.1. Loop
Loops the underlying program commands. Depending on the selection, the underlying program
commands are either looped infinitely, a certain number of times or as long as the given condition
is true. When looping a certain number of times, a dedicated loop variable (called loop_1 in the
screen shot above) is created, which can be used in expressions within the loop. The loop variable
counts from 0to N − 1.
When looping using an expression as end condition, PolyScope provides an option for continuously
evaluating that expression, so that the “loop” can be interrupted anytime during its execution,
rather than just after each iteration.
23.12.2. If
If and If...Else statements change the robot’s behavior based on sensor inputs or variable values.
UR5e 170 User Manual
23.Program Tab
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