12 On-screen Editors
12.1 On-screen Expression Editor
While the expression itself is edited as text, the expression editor has a number of
buttons and functions for inserting the special expression symbols, such as ∗ for
multiplication and ≤ for less than or equal to. The keyboard symbol button in the
top left of the screen switches to text-editing of the expression. All defined variables
can be found in the Variable selector, while the names of the input and output
ports can be found in the Input and Output selectors. Some special functions are
found in Function.
The expression is checked for grammatical errors when the Ok button is pressed.
The Cancel button leaves the screen, discarding all changes.
An expression can look like this:
digital_in[1]
?
=True and analog_in[0]<0.5
12.2 Pose Editor Screen
On this screen you can specify target joint positions, or a target pose (position and
orientation) of the robot tool. This screen is “offline” and does not control the robot
arm directly.
Version 3.4.5
Copyright © 2009–2017 by Universal Robots A/S. All rights reserved.
II-31 CB3
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