Hi6 Robot Controller Manual - Robot Language HRScr
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  • Hi6 Robot Controller Function Manual - Robot Language HRScript
  • 1. Overview
    • 1.1 Introduction of HRScript
  • 2. Basic Syntax
    • 2.1 Statements
    • 2.2 Identifiers
    • 2.3 Types of Statements
      • 2.3.1 Procedures
      • 2.3.2 Assignment Statements
      • 2.3.3 Comment Statements
      • 2.3.4 Labels
    • 2.4 First Program – Hello, World!
    • 2.5 Data Type
      • 2.5.1 String Data Type
      • 2.5.2 Number Data Type
      • 2.5.3 Boolean Data Type
      • 2.5.4 Array Type and Object Type
    • 2.6 Variables
    • 2.7 Binary and Hexadecimal
    • 2.8 Operators and Expressions
    • 2.9 Functions
      • 2.9.1 Math Functions
      • 2.9.2 String Functions
      • 2.9.3 Date and Time Functions
      • 2.9.4 Constructor Functions
      • 2.9.5 Other Functions
  • 3. Flow-Control Statements and Sub-Program
    • 3.1 Address
    • 3.2 Stop or Wait Statement
      • 3.2.1 stop
      • 3.2.2 end
      • 3.2.3 delay
      • 3.2.4 wait
    • 3.3 Branch Statement
      • 3.3.1 goto
    • 3.4 Conditional Statements
      • 3.4.1 Single-Line if
      • 3.4.2 if-endif
      • 3.4.3 if-else-endif Statement
      • 3.4.4. if-elseif-else-endif
      • 3.4.5 switch-case-break-end_switch
    • 3.5. Nested Flow-Control Statements
    • 3.6 Loop Statements
      • 3.6.1 for-next
    • 3.7 Call, Jump Statement and Subprograms
      • 3.7.1 call
      • 3.7.2 Parameters and param, return
      • 3.7.3 jump
    • 3.8 Local Variables and Global Variables
      • 3.8.1 Local Variables
      • 3.8.2 Global Variables
      • 3.8.3 Precedence
  • 4. Arrays and Objects
    • 4.1 Arrays
      • 4.1.1 Arrays
      • 4.1.2 Multidimensional Arrays
      • 4.1.3 Array Constructor Function
    • 4.2 Object
    • 4.3 Copied assignment of arrays and objects
    • 4.4 Call-by-reference and call-by-value
  • 5. Moving a Robotwith Robot Language
    • 5.1 Pose
    • 5.2 Shift
    • 5.3 Pose Expression
    • 5.4 move
    • 5.5 User Coordinate System (UCS)
  • 6. Communicating with External Devices
    • 6.1 FB Object: Digital I/O
      • 6.1.1 Input/Output Variables
      • 6.1.2 Examples
    • 6.2 ENet Module: Ethernet TCP/UDP Communication
      • 6.2.1 Constructor
      • 6.2.2 Member Variables
      • 6.2.3 Member Procedures
        • open
        • connect
        • send
        • recv
        • close
      • 6.2.4 Member Function
        • state
      • 6.2.5 Examples of TCP and UDP Communication
    • 6.3 Http_Cli Module: HTTP Client
      • 6.3.1 Constructor
      • 6.3.2 Member Variables
      • 6.3.3 Member Procedure
        • get
        • put
        • post
        • delete
      • 6.3.4 Examples of HTTP Client Communication
    • 6.4 Getting input from console bar
      • 6.4.1 input
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  1. 3. Flow-Control Statements and Sub-Program

3.5. Nested Flow-Control Statements

Description

In the control statement block, another control statement block can be placed, as shown in the following example. In the following form, two nesting levels are shown, but multiple nesting levels can be made as much as necessary.

Syntax

if <bool expression>
	if <bool expression>
		<statement A>
		…
	else
		<statement B>
		…
	endif
endif

Example

var pressure=95, limit=90, inject_on=true
if inject_on
	if pressure > limit
		print "warning: pressure is high."
	else
		print "in normal operation."
	endif
endif
end

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Last updated 3 years ago

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