Robotics User Manual

[ Condition ]
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Condition Settings: ld, ldi, and, ani, or, ori, anb, orb
The following describes the condition commands placed after the If Branch, Wait Condition (if,
waitCond, waitCondTime) commans. The command category it belongs to is [Condition.]
Command
Category
Command Parameter Job
Boolean variable or expression ld ON input
ldi Boolean variable or expression OFF input
and Boolean variable or expression Serial ON input
ani Boolean variable or expression Serial Off input
or Boolean variable or expression Parallel ON input
ori
Condition
Boolean variable or expression Parallel OFF input
anb
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Block serial connection

orb
Block parallel connection
I/O-SYS output (#sysOut), I/O-1 output (#genOut), I/O-H output (#handOut), system flag (#sysFlag),
internal relay (#mv), keep relay (#mkv), and pallet flag, as well as I/O-SYS input (#sysIn), I/O-1 input
(#genin), and I/O-H input (#handIn), can be given as command parameters.
Comparison operation expressions can also be used. Variables and functions other than the above
parameters can also be used in comparison operation expressions.
Comparison
operation expression
Meaning
Comparison
operation expression
Meaning
○ <= □
○ = □
Equal
□ to ○
○
=< □
□ greater than or equal
to
○
○ < □ □ greater than ○
○ >= □
○ => □
□ less than or equal to
○
○ > □ □ less than ○
○ <> □
○ >< □
Not equal
A comparison operation expression must always start from an Id or Idi command line. If it is only an
independent ON (true) or OFF (false) condition, it is a 1 line command, but when multiple conditions
are connected with and, or, etc., it becomes a multi-line command string.
Expressions can also be used in conditional operations. In this case, the result of the expression is
judged as 0 (flag) or nonzero (true).
Features II CARTESIAN Benchtop Robot
40