Universal Robots E Series Original Instructions Manual page 185

23. Program Tab
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
User Manual
23.12.1. Loop on the previous
171
page).
UR5e