Universal Robots UR5 Original Instructions

13.18 Command: If
13.18 Command: If
An “if...else” construction can make the robot change its behavior based on sensor
inputs or variable values. Use the expression editor to describe the condition under
which the robot should proceed to the sub-commands of this If. If the condition is
evaluated to True, the lines inside this If are executed.
Each If can have several ElseIf and one Else command. These can be added using
the buttons on the screen. An ElseIf command can be removed from the screen for
that command.
The open Check Expression Continuously allow the conditions of the If and
ElseIf statements to be evaluated while the contained lines are executed. If a expres-
sion evaluates to False while inside the body of the If-part, the following ElseIf or
Else statement will be reached.
Version 3.1 (rev. 17782)
Copyright © 2009-2015 by Universal Robots A/S. All rights reserved.
II-67 CB3

Universal Robots UR5 Specifications

General

Brand	Universal Robots
Model	UR5
Category	Robotics
Language	English