Other Actions: Hold; Faqs - Signals And Their Definitions - Rethink Robotics Baxter User Manual

OTHER ACTIONS: HOLD

INPUTS
• Ready (level (enable)): when false, prevents the action from running. When true,
allows the action to run if all other conditions are met (e.g., count.)
•If Ready goes false before the hold time is up, then the Hold is aborted
immediately and the Action Sequence will wait until Ready becomes true
before restarting the Hold.
•Since Holds in an Action Sequence are executed sequentially, the task will
be paused when it encounters a Hold with a false Ready signal.
• Skip (level (gate)): if true any time during the hold period, the Hold acts as if the
wait time has completed.
•The Hold will always execute the approach and retract regardless of the
Skip signal. However, the Skip signal can reduce the hold time to effectively
zero.
OUTPUTS
• Done (level): not applicable.
• Increment Count (pulse): not applicable.
• Start (pulse): sent when the Hold is starting its approach.
• End (pulse): sent when the Hold has finished its retract.
• Active (pulse): When the hold is active / currently holding at the hold pose, the
active signal will be pulsed true.
ACTION GROUPS
When actions are in a group, signals can only be attached to the action group and not to individual
actions within the group. When an input signal is attached to an action group, it acts as if it was
attached to each action within the group individually. When an output signal is attached to an action
group, it is true if the output of any of the individual actions is true, and false otherwise (i.e., the out-
puts of the individual actions are OR'ed together.)

FAQs - Signals and Their Definitions

Q: How long will a Done signal stay true after completing a Task, Subtask, Action?
A: In general, the Done signal remains true until the count on the element is reset. When using auto-
matic reset, i.e., the Ready signal isn't being used, Action counts are reset when their containing
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Intera 3.2