Hello,
On KRC2 robot I cannot add IF instruction.
Command menu offers Last Command, Motion, Moveparams, Logic, Analog output and Comments commands. Logic sub-menu offers WAIT, WAITFOR, OUT and IBUS Segment on/off.
There is no loops, conditions neither many other regular instructions available.
How to reach that instructions as well?
Many thanks for your advises.
You need to write it manually directly into your code. There are no Inline Forms for IF, FOR, ... . Only Inline forms can be added using the gui menue items.
Read about expert programming mode in system integrators manual.
Fubini
Only handful of instructions are inline forms and can be selected from menu.
Everything else is typed in. This also requires login as well as file must be OPEN and not SELECTED
Is login as Expert enough for programming?
Logging in as Expert is enough. However, you also need to Edit the program, not Select it.
When you Select a module, that module is loaded for execution, and you can add menu-driven Inline Forms. However, if you want to do more complex programming, like adding IF/ENDIF, WHILE/ENDWHILE, etc, you need to Edit instead.
When you make a change to a Selected program, the edits are compiled instantly. When using the Editor, the compile does not take place until you hit the Close button, and respond "Yes" to the "Do you want to save these changes?" prompt. Errors will only be found, and throw messages, when trigger the save&compile step.
