Branch by Msg
Usage Scenario
-
Proceed to the corresponding branch according to the data received from an external device.
-
Pause the Mech-Viz workflow and resume upon the reception of an external signal.
Parameter Description
General Parameters of Non-Move Steps
Skip Execution
| None |
Default setting. Do not skip the current Step. |
| Simulation only |
Skip the current Step during simulation. The exit port is specified by Out Port When Skip. |
| Always |
Skip the current Step when the project is simulating or running. The exit port is specified by Out Port When Skip. |
| Instruction |
When Simulation only or Always is selected, the current Step will be skipped and the subsequent Step will be executed when running the project. If this parameter is set to None in “Check DI” Step in the project, and there is no external input signal during simulation, the project will be stopped when executing to this Step. In this case, setting the parameter to Simulation only or Always enables the simulation to continue. |
Out Port When Skip
This parameter will take effect when Skip Execution is set to Simulation only or Always. It specifies the exit port when skipping a Step.
| Out Port Count |
The number of exit ports of this Step. If the number of branches is 3, then this Step should have 3 exit ports connected to 3 different branches. If this Step is used to pause the workflow, set the value of this parameter to 1. |
The following parameters can be set when Out Port Count is 1.
- Affect Future Move (Will Break Planning)
-
If checked, the planning of the succeeding logic is paused. (When this Step is used for execution of different branches, the succeeding planning is for sure paused, since the branch that will be executed is unknown yet.) If this Step is only used to pause the workflow and wait for an external signal, the succeeding logic does not change. Therefore, this parameter should not be checked.
- Run in Advance on Planned
-
Checked by default. Mech-Viz can temporarily store the signal sent by an external device and proceed along the corresponding branch when arriving at this Step, thus improving cycle time. If unchecked, this Step will not receive the signal sent by an external device in advance.
- Wait Timeout
-
If checked, a timeout exit port is added, and you can set the Wait Timeout parameter. When the wait time for the external signal exceeds the Wait Timeout value, the timeout exit port will be taken. A Pre Plan Out Port parameter is also added. Generally, a normal exit, instead of a timeout exit, is specified.
For Out Port Count taking a value rather than 1, the following parameters can be set.
- Run in Advance on Planned
-
Checked by default. Mech-Viz can temporarily store the signal sent by an external device and proceed along the corresponding branch when arriving at this Step, thus improving cycle time. If unchecked, this Step will not receive the signal sent by an external device in advance.
- Pre Plan Out Port
-
To ensure the continuity of planning, a pre-plan exit port must be specified. Usually, the exit port to the branch most likely to be successfully planned is selected to reduce the rate of re-planning and wait time of the robot.
- Wait Timeout
-
If checked, a timeout exit port is added, and you can set the Wait Timeout parameter. When the wait time for the external signal exceeds the Wait Timeout value, the timeout exit port will be taken.