What it is: Control blocks affect the behavior of the flowchart. Control blocks allow the user to pause the task, repeat function in the flowchart, save log messages and physical waypoints, set dwell times, and create containers.
- Containers will reset any internal iterative blocks when the container executes, regardless of whether they have reached their max value.
- Use this feature to reset a grid, count, or timer when certain events are triggered. For example, a force move finds that there are no more parts in a grid of parts, so reset the grid to the beginning.
- Example, timed function runs during machining cycle, robot periodically checks if cycle is complete. When cycle complete, timer resets.
- This feature can also be turned off with the "reset internal blocks on execute" toggle in the Container settings generator. Set the toggle to "off" and iterative blocks within the container will behave no differently than blocks outside the container.
Re-purposing common sub-functions
- Some multi-block functions get used often through tasks, such as timed pedal presses or placement of finished parts into a bin.
- Save these functions within a container and export them so that you can import them into other sections of the task without having to reprogram
- Use this feature if you reuse the same parts presentation method across different tasks and already programmed it once
- Organize large areas of a task into a container and collapse them to make the flowchart easier to navigate.
- Name the containers from the settings generator so that users know what's inside. containers can also have labels if you need to add more information about the contents.
- Group together sections of the task that don't have similar waypoints to prevent key linked waypoints from getting separated
- Remember that each container is separate from the master container it was imported from. changing the imported container or changing the original exported container will not change any other similar containers.
- Containers will append the names of internal waypoints, making those waypoints separate from waypoints outside of the container. This feature can be useful if you need the container blocks to act differently than external blocks, but remember that the waypoint linkages are broken when you change a waypoint within a container and expect similar waypoints external to the container to update as well.
- Containers will not only export waypoints but also landmarks, which means that imported containers will bring their landmarks into the new task. Important landmarks will not overwrite existing landmarks of the same name, but will use the location of the landmark in the existing task.