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, |
|
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. |
|
Try/Except block |
On the “Try” statement you can ask Ned to try to
execute any type of action a certain amount of time |
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, |
|
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. |
|
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 |
|
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 |
|
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 |
|
Get item block |
Returns / returns and removes / removes the item |
|
Set item index block |
Sets / inserts at the item at the specified position in a list. |
|
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. |
|
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 a pose saved in the 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), |
|
Shift block |
Shifts the robot pose according to an axe x / y / z / roll / pitch / yaw. |
|
Pick from pose block |
Moves the robot’s TCP (arm’s end point + tool coordinate) |
|
Place from pose block |
Moves the robot’s TCP (arm’s end point + tool coordinate) |
|
Move Trajectory block |
The robot will pass through the list of goals with the desired distance smooth. |
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 selected analog pin. |
|
Get Digital I/O value |
Returns the value of the selected digital pin. |
|
Set Analog I/O value |
Sets the value of the selected analog pin. |
|
Set Digital I/O value |
Sets the value of the selected digital pin. |
|
End effector type of button press |
Detects the end effector’s type of button press. |
|
End effector button is pressed. |
Detects the end effector button is pressed. |
|
End effector custom button is pressed with timeout. |
Detects the end effector custom button is pressed and sets timeout. |
|
End effector action button is pressed with timeout. |
Detects the end effector action button is pressed and sets timeout. |
|
End effector waiting for press button. |
Waits for button 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 the robot sound’s volume. |
|
Play sound |
Plays sound selected to the robot. |
|
Play partial sound |
Plays the selected sound to the robot from X seconds to X seconds. |
|
Stop sound |
Stops the current sound. |
Light (only for Ned2)¶
Concept |
Explanation |
Example |
---|---|---|
Set color |
Sets color with RGB parameters or color panel. |
|
None |
No color displayed in the Led ring. |
|
Solid |
Led ring solid animation, set the whole Led Ring to a fixed color. |
|
Chase |
Led ring chase animation, movie theater light style chaser animation. |
|
Flashing |
Led ring flashing animation, flashes a color according to a frequency. |
|
Wipe |
Led ring wipe animation, wipes a color across the Led Ring, lights a Led at a time. |
|
Rainbow |
Led ring rainbow animation, draws a rainbow that fades across all Leds at once. |
|
Rainbow cycle |
Led ring rainbow cycle animation, draws rainbow that uniformly distributes itself across all Leds. |
|
Rainbow chase |
Led ring rainbow chase animation, like the chase animation. |
|
Go up |
Led ring go up animation, Leds turn on like a loading circle, and are then all turned off at once. |
|
Go down |
Led ring go down animation, Leds turn on like a loading circle, and are turned off the same way. |
|
Set individual led |
Choose the Led ID and the displayed color |
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.