I have a background program running that makes sure I have suction and will stop the robot even if it loses signal for a a split second. I'm wondering how and if I can add like a 0.1 second timer to this line so RI [2] or [4] has to be off for longer than that to throw an alarm.
If (DO[41]) and (!RI[2] OR !RI[4] AND !DO[40]) THEN
UALM[1]
Thanks