Exposing DOFs as Outputs

You can create a set of outputs from a robot resource where each value represents a current DOF value of the robot during simulation.

These outputs are then consumed by the robot program. For example, if the value of a DOF surpasses a specified threshold, a specific program can be launched. Because they are outputs, they can be mapped to the input of other resources in order to be taken into account in other programs of the same cell.

Exposing the DOFs in this way makes it possible to take into account the position or physical state of the robot in the logic program.

  1. In the Sequencing side tab, right-click the robot resource and select Expose DOF's resource as Outputs.
    The Choose Commands panel appears.
  2. Select the commands (DOFs) to be exposed as outputs on the resource, and click OK.
    The selected commands are exposed as outputs, and appear in the Resource Entities panel.

The selected outputs can be used in the logic as any other outputs. During simulation, each value represents the angle value of the related DOF.