Logic

Concept	Explanation	Example
If/Else If/Else block	If the first value is true, then does the first block of statements. Otherwise, if the second value is true, does the second block of statements. If none is true, does the the last block of statements.
Mathematical comparison operator block	Compares two values with an operator [=, ≠, <, ≤, >, ≥]. Returns true if the comparison is true.
Logical comparision operator block	Compares two values with an operator [and / or]. Returns true if the comparison is true.
Not block	Returns true if the input is false, and false if the input is true.
True/False block	Returns either true or false.
Null block	Returns null.
Test block	Checks the condition in test block statement. If the condition is true, returns the value of the ‘if true’ value. Otherwise, returns the ‘if false’ value.
Try/Except block	On the “Try” statement you can ask Ned to try to execute any type of action a certain amount of time You can then choose if Ned should CONTINUE or STOP in case he is “On failure”. If not Ned will execute the next block.

Loops

Concept	Explanation	Example
Time loop block	Does one or several statements multiple times.
While loop block	While a value is true, then do some statements.
For loop block	Executes a loop based on a variable, from a starting number to an ending number with a specified interval, and executes the specified blocks.
For each item in list loop block	For each item in a list, sets the variable “v” to the item, and then does some statements.
Break block	Breaks out of the containing loop. Must be in a loop block.

Math

Concept	Explanation	Example
Set number block	Sets a value.
Mathematical operation block	Returns the value of the specified operation with two numbers. [+, -, x, ÷, ^].
Check operation block	Checks if a number is even, odd, prime, whole, positive, negative or divisible.
Round block	Rounds a number up or down.
Mathematical list operations block	Returns the mathematical operation value of all number in the list [sum, min, max, average, median, modes, standard deviation, random item].
Division remainder block	Returns the remainder from the division of two numbers.
Constrain number block	Constrains a number to be between the specified limits (inclusive).
Random integer block	Returns a random integer between the two specified limits (inclusive).

Lists

Concept	Explanation	Example
Create list block	Creates an empty list.
Create list with items block	Creates a list with a specified number of items.
Create list with one item block	Creates a list consisting of the given value repeated the specified number of times.
List length block	Returns the length of a list.
Is list empty block	Returns true if the list is empty.
Item index finder block	Returns the index of the first or the last occurrence of the item in the list. Returns 0 if the item is not found.
Get item block	Returns / returns and removes / removes the item at the specified position in a list. #1 is the first item.
Set item index block	Sets / inserts at the item at the specified position in a list. #1 is the first item.
Copy list-portion block	Creates a copy of the specified portion of a list.
Sort list block	Sorts numeric / alphabetic / alphabetic ignore case by ascending / descending a copy of a list.

Variables

Concept	Explanation	Example
Create variable block	Creates a variable by its name.
Set variable block	Sets this variable to be equal to the input.
Change variable block	Changes this variable by the input.
Get variable block	Returns the variable.

Functions

Concept	Explanation	Example
Create no output function block	Creates a function with no ouput. You can add input arguments.
Create function with output block	Creates a function with an ouput. You can add input arguments.
Function return block	If a value is true, then ends the function and returns the return value. Must be inside a function.
Call function block	Runs the function.

Utility

Concept	Explanation	Example
Wait time block	Creates a break time in the program.
Comment block	Adds comments to the code. This block will not be executed. Note: accents are not accepted (é,à,è,…).
Break Point block	Stops the execution of the program. Press the “Play” button to resume.

Arm

Concept	Explanation	Example
Learning mode block	Activates / Deactivates the learning mode.
Set arm speed block	Sets the arm speed.

Movement

Concept	Explanation	Example
Joints block	Creates an object pose according to the robot’s joints values.
Move joints block	Moves the robot according to a Joints block.
Saved pose block	Creates an object pose with pose saved in robot.
Pose block	Creates an object pose according to the end effector’s cartesian coordinates.
Move pose block	Moves the robot according to a pose block. You can change between “Standard” move (Point to Point), “Linear”, the robot will follow a linear trajectory from its position to the desired position, or “Try linear”, the robot will try to do a “Linear” trajectory, but if it can’t compute the linear trajectory, it will do a “Standard” move.
Shift block	Shifts the robot pose according to an axe x / y / z / roll / pitch / yaw. You can change between “Standard” move (Point to Point), “Linear”, the robot will follow a linear trajectory from its position to the desired position, or “Try linear”, the robot will try to do a “Linear” trajectory, but if it can’t compute the linear trajectory, it will do a “Standard” move.
Pick from pose block	Moves the robot’s TCP (arm’s end point + tool coordinate) to a specified pose and activates the tool to pick an object.
Place from pose block	Moves the robot’s TCP (arm’s end point + tool coordinate) to a specified pose and deactivates the tool to place an object.
Move Trajectory block	The robot will pass through the list of goals with the desired distance smooth. The distance smooth is the radius from the goal where the robot will start to go towards the next point.

I/O

Concept	Explanation	Example
Get I/O block	Returns the number of the pin.
Set I/O mode block	Sets I/O pin mode to input or output.
Set output state block	Sets output pin state to high or low.
Get input state block	Returns the input pin state.
State block	Returns the state value high or low.
Set Switch state block	Sets the 12V switch state to high or low.

I/O for Ned2

Concept	Explanation	Example
Get Analog I/O block	Returns the analog pin.
Get Digital I/O block	Returns the digital pin.
Get Analog I/O value	Returns the value of the analog pin selected.
Get Digital I/O value	Returns the value of the digital pin selected.
Set Analog I/O value	Sets the value of the analog pin selected.
Set Digital I/O value	Sets the value of the digital pin selected.
End effector type of button press	Detects end effector type of button press.
End effector button is pressed.	Detects end effector button is pressed.
End effector custom button is pressed with timeout.	Detects end effector custom button is pressed and set timeout.
End effector action button is pressed with timeout.	Detects end effector action button is pressed and set timeout.
End effector waiting for press button.	Waits forbutton press.

Tool

Concept	Explanation	Example
Scan tool block	Scans and updates current tool.
Grasp block	Activates the gripper / vacuum.
Release block	Deactivates the gripper / vacuum.
Open gripper block	Opens the gripper at a certain speed.
Close gripper block	Closes the gripper at a certain speed.
Pull air block	Pulls the air in the vacuum pump.
Push air block	Pushes the air in the vacuum pump.
Setup electromagnet block	Selects on which pin the electromagnet is connected.
Activate electromagnet block	Activates the electromagnet power.
Deactivate electromagnet block	Deactivates the electromagnet power.
Activate / Deactivate TCP block	Activates or deactives the TCP.
Set TCP block	Sets TCP frame

Sound (only for Ned2)

Concept	Explanation	Example
Set sound volume	Sets robot sound volume.
Play sound	Plays sound selected to the robot. Possibility of blocking the execution of the program with the “Blocking” parameter.
Play partial sound	Plays sound selected to the robot frm X secondes to X secondes. Possibility of blocking the execution of the program with the “Blocking” parameter.
Stop sound	Stops current sound.

Ligth (only for Ned2)

Concept	Explanation	Example
Set color	Sets color with RGB parameters or color panel.
None	No color display in led ring.
Solid	Led ring solid animation, set the whole Led Ring to a fixed color. If wait is True, the blocks wait for the animation to finish.
Chase	Led ring chase animation, movie theater light style chaser animation. If wait is True and iterations not null, the blocks wait for the animation to finish.
Flashing	Led ring flashing animation, flashes a color according to a frequency. If wait is True and iterations not null, the blocks wait for the animation to finish.
Wipe	Led ring wipe animation, wipe a color across the Led Ring, light a Led at a time. If wait is True, the blocks wait for the animation to finish.
Rainbow	Led ring rainbow animation, draw rainbow that fades across all Leds at once. If wait is True and iterations not null, the blocks wait for the animation to finish.
Rainbow cycle	Led ring rainbow cycle animation, draw rainbow that uniformly distributes itself across all Leds. If wait is True and iterations not null, the blocks wait for the animation to finish.
Rainbow chase	Led ring rainbow chase animation, like the chase animation. If wait is True and iterations not null, the blocks wait for the animation to finish.
Go up	Led ring go up animation, Leds turn on like a loading circle, and are then all turned off at once. If wait is True and iterations not null, the blocks wait for the animation to finish.
Go down	Led ring go down animation, Leds turn on like a loading circle, and are turned off the same way. If wait is True and iterations not null, the blocks wait for the animation to finish.
Set individual led	Choise led id and color displayed

Vision

The Vision blocks and Vision templates are detailed in the Vision Set Documentation.

Conveyor blocks

The Conveyor blocks are detailed in the Conveyor Belt documentation.