User Input Command

Overview

User Input Command is the command that can help the robot to receive the user input data through the Teach Pendant.

Property

Annotation

You can insert text in the description, unique meaning, or nickname for each Parameter to differentiate with many DRL Components.

Parameters

In Parameter Panel, it will help you create or select your variable to define the parameter of the chosen command.

For detailed DRL description other than parameters, please refer to the following online manual link: https://manual.doosanrobotics.com/help/programming/2.9/publish/en_us/tp_get_user_input-message-input_type-8427358.html.

Parameter Name

Data Type

Default Value

Description

message

string

-

Character string message to be displayed on the TP user input window

Messages are limited to within 256 bytes.
It is recommended that the text be concise. For long text, some content is omitted with an ellipsis (…).
Formatting-related code such as newline (\n) or carriage return (\r) is not allowed.

input_type

int

-

TP user input message type

DR_VAR_INT: Integer type
DR_VAR_FLOAT: Real number type
DR_VAR_STR: Character string
DR_VAR_BOOL: Boolean

Example

DRL Code

PY

q1 = posj(10, 10, 10, 10, 10, 10)
q2 = posj(20, 20, 20, 20, 20, 20)
q3 = posj(30, 30, 30, 30, 30, 30)
q4 = posj(40, 40, 40, 40, 40, 40)
q5 = posj(50, 50, 50, 50, 50, 50)
q6 = posj(60, 60, 60, 60, 60, 60)

int_y= tp_get_user_input("message1", input_type= DR_VAR_INT)
if int_y==1:	# Moves to q1 if the TP user input is 1.  
  movej(q1, vel=30, acc=30)
else:		# Moves to q2 if the TP user input is not 1.
  movej(q2, vel=30, acc=30)
  
float_y= tp_get_user_input("message2", input_type= DR_VAR_FLOAT)
if float_y==3.14:	# Moves to q3 if the TP user input is 3.14.
  movej(q3, vel=30, acc=30)
else:			# Moves to q4 if the TP user input is not 3.14.
  movej(q4, vel=30, acc=30)

str_y= tp_get_user_input("message3", input_type= DR_VAR_STR)
if str_y=="a":		# Moves to q5 if the TP user input is "a". 
  movej(q5, vel=30, acc=30)
else:			# Moves to q6 if the TP user input is not "a".
  movej(q6, vel=30, acc=30)

bool_y= tp_get_user_input("message3", input_type= DR_VAR_BOOL)
if bool_y==True:        # Moves to q5 if the TP user input is "True or 1". 
  movej(q5, vel=30, acc=30)
else:                   # Moves to q6 if the TP user input is "False or 0"
  movej(q6, vel=30, acc=30)

Block code

Info

Refer to this link Mode Selectionto understand more about DRL and Block Coding.