Universal Robots UR10/CB3, Руководство пользователя

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1.22. On-screen Editors
1.22.1. 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
1.22.2. 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.
User Manual 117 UR10
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