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Select conditions in the Expression Editor that make up expressions using an If statement. If a
condition is evaluated as True, the statements within this If command are executed. An If
statement can have only one Else statement. Use Add ElseIf and Remove ElseIf to add
and remove ElseIf expressions.
Select Check Expression Continuously to allow If, ElseIf and Loop statements to be
evaluated while the contained lines are executed. If an expression inside an If statement is
evaluated as False, the ElseIf or Else statements are followed.
NOTE
If there are waypoints inside an If expression or inside a Loop expression with the
Check Expression Continuously option, you can add a stopj() or a stopl() after the
expression to gently decelerate the robot arm. This is valid for both If and Loop
Commands (see section
UR10
1.24.16. Command: Loop on the previous
182
page).
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