What it is: Checks are blocks that look for an external event before deciding how to proceed. A check block will pass if the expected event is present and fail if the event is not present. For each check block, the user can define what the expected event is and how the flowchart will proceed.
Caution: A check block will only look for the event when the flowchat is executing the check block. If the event occurs. While the task is elsewhere in the flowchat, the pass condition will not be triggered unless the event occurs again or is still occurring when the task executes the check block.
What it is: A Wait for Force check uses the integrated force sensor to wait for a force to be applied to the end effector or TeachMate. A Wait for Force block will pass if the end effector detects the specified force while the block is waiting. The block will fail if the wait time expires before the end effector detects the force.