RAPID reference manual - Technology

InstructionIFRobotWare-OSIF - If a condition is met, then ...; otherwise ...IF is used when different instructions are to be executed depending on whether a conditionis met or not.ExamplesIF reg1 > 5 THENSet do1;Set do2;ENDIFThe do1 and do2 signals are set only if reg1 is greater than 5.IF reg1 > 5 THENSet do1;Set do2;ELSEReset do1;Reset do2;ENDIFThe do1 and do2 signals are set or reset depending on whether reg1 is greaterthan 5 or not.ArgumentsIF Condition THEN ... {ELSEIF Condition THEN ...} [ELSE ...]ENDIFConditionData type: boolThe condition that must be satisfied for the instructions between THEN andELSE/ELSEIF to be executed.RAPID reference manual - part 1a, Instructions A-R 141