# Logic¶

Concept

Explanation

Example

If/Else If/Else block

If the first value is true, then does the first block of statements. Otherwise, if the second value is true, does the second block of statements. If none is true, does the the last block of statements.

Mathematical comparison operator block

Compares two values with an operator [=, , <, , >, ]. Returns true if the comparison is true.

Logical comparision operator block

Compares two values with an operator [and / or]. Returns true if the comparison is true.

Not block

Returns true if the input is false, and false if the input is true.

True/False block

Returns either true or false.

Null block

Returns null.

Test block

Checks the condition in test block statement.
If the condition is true, returns the value of the ‘if true’ value.
Otherwise, returns the ‘if false’ value.

Try/Except block

On the “Try” statement you can ask Ned to try to execute any type of action a certain amount of time You can then choose if Ned should CONTINUE or STOP in case he is “On failure”. If not Ned will execute the next block.

# Loops¶

Concept

Explanation

Example

Time loop block

Does one or several statements multiple times.

While loop block

While a value is true, then do some statements.

For loop block

Executes a loop based on a variable, from a starting number to an ending number with a specified interval, and executes the specified blocks.

For each item in list loop block

For each item in a list, sets the variable “v” to the item, and then does some statements.

Break block

Breaks out of the containing loop. Must be in a loop block.

# Math¶

Concept

Explanation

Example

Set number block

Sets a value.

Mathematical operation block

Returns the value of the specified operation with two numbers.
[+, -, x, ÷, ^].

Check operation block

Checks if a number is even, odd, prime, whole, positive, negative or divisible.

Round block

Rounds a number up or down.

Mathematical list operations block

Returns the mathematical operation value of all number in the list
[sum, min, max, average, median, modes, standard deviation, random item].

Division remainder block

Returns the remainder from the division of two numbers.

Constrain number block

Constrains a number to be between the specified limits (inclusive).

Random integer block

Returns a random integer between the two specified limits (inclusive).

# Lists¶

Concept

Explanation

Example

Create list block

Creates an empty list.

Create list with items block

Creates a list with a specified number of items.

Create list with one item block

Creates a list consisting of the given value
repeated the specified number of times.

List length block

Returns the length of a list.

Is list empty block

Returns true if the list is empty.

Item index finder block

Returns the index of the first or the last occurrence of the item in the list. Returns 0 if the item is not found.

Get item block

Returns / returns and removes / removes the item at the specified position in a list. #1 is the first item.

Set item index block

Sets / inserts at the item at the specified position in a list.
#1 is the first item.

Copy list-portion block

Creates a copy of the specified portion of a list.

Sort list block

Sorts numeric / alphabetic / alphabetic ignore case by ascending / descending a copy of a list.

# Variables¶

Concept

Explanation

Example

Create variable block

Creates a variable by its name.

Set variable block

Sets this variable to be equal to the input.

Change variable block

Changes this variable by the input.

Get variable block

Returns the variable.

# Functions¶

Concept

Explanation

Example

Create no output function block

Creates a function with no ouput. You can add input arguments.

Create function with output block

Creates a function with an ouput. You can add input arguments.

Function return block

If a value is true, then ends the function and returns the return value.
Must be inside a function.

Call function block

Runs the function.

# Utility¶

Concept

Explanation

Example

Wait time block

Creates a break time in the program.

Comment block

Adds comments to the code. This block will not be executed. Note: accents are not accepted (é,à,è,…).

Break Point block

Stops the execution of the program. Press the “Play” button to resume.

# Arm¶

Concept

Explanation

Example

Learning mode block

Activates / Deactivates the learning mode.

Set arm speed block

Sets the arm speed.

# Movement¶

Concept

Explanation

Example

Joints block

Creates an object pose according to the robot’s joints values.

Move joints block

Moves the robot according to a Joints block.

Pose block

Creates an object pose according to the end effector’s cartesian coordinates.

Move pose block

Moves the robot according to a pose block. You can change between “Standard” move (Point to Point), “Linear”, the robot will follow a linear trajectory from its position to the desired position, or “Try linear”, the robot will try to do a “Linear” trajectory, but if it can’t compute the linear trajectory, it will do a “Standard” move.

Shift block

Shifts the robot pose according to an axe x / y / z / roll / pitch / yaw. You can change between “Standard” move (Point to Point), “Linear”, the robot will follow a linear trajectory from its position to the desired position, or “Try linear”, the robot will try to do a “Linear” trajectory, but if it can’t compute the linear trajectory, it will do a “Standard” move.

Pick from pose block

Moves the robot’s TCP (arm’s end point + tool coordinate)
to a specified pose and activates the tool to pick an object.

Place from pose block

Moves the robot’s TCP (arm’s end point + tool coordinate)
to a specified pose and deactivates the tool to place an object.

Move Trajectory block

The robot will pass through the list of goals with the desired distance smooth. The distance smooth is the radius from the goal where the robot will start to go towards the next point.

# I/O¶

Concept

Explanation

Example

Get I/O block

Returns the number of the pin.

Set I/O mode block

Sets I/O pin mode to input or output.

Set output state block

Sets output pin state to high or low.

Get input state block

Returns the input pin state.

State block

Returns the state value high or low.

Set Switch state block

Sets the 12V switch state to high or low.

# Tool¶

Concept

Explanation

Example

Scan tool block

Grasp block

Activates the gripper / vacuum.

Release block

Deactivates the gripper / vacuum.

Open gripper block

Opens the gripper at a certain speed.

Close gripper block

Closes the gripper at a certain speed.

Pull air block

Pulls the air in the vacuum pump.

Push air block

Pushes the air in the vacuum pump.

Setup electromagnet block

Selects on which pin the electromagnet is connected.

Activate electromagnet block

Activates the electromagnet power.

Deactivate electromagnet block

Deactivates the electromagnet power.

Activate / Deactivate TCP block

Activates or deactives the TCP.

Set TCP block

Sets TCP frame

# Vision¶

The Vision blocks and Vision templates are detailed in the Vision Set Documentation.

# Conveyor blocks¶

The Conveyor blocks are detailed in the Conveyor Belt documentation.