Behaviors

In DIATwin, all actions can be combined with the following device combinations to form the following actions

Container

	Slot Interface	Add an assembly interface，After adding, user need to specify the coordinates and decide whether to become a parent node or a child node
	Tool frame container	Add a tool frame coordinates, after different component are assembled, the tool coordinates can be selected in the same controller
	User frame container	Adda a user frame coordinates, after different component are assembled, the user coordinates can be selected in the same controller
	General frame	Some behavior needs specifying specific coordinates, a new universal coordinate needs to be added

General

	Connectivity	Open PLC communication plug-in program, user can add and control I/O in this world project
	Air Cylinder	A dd a pneumatic cylinder behavior, allows the specified slider to move when receiving a signal
	Conveyor	Add a conveyor belt behavior, allowing specified track devices to move when receiving a signal
	Finger Gripper	Add a gripper behavior, allowing specified two links to move towards the same center point upon receiving a signal
	LED	Add an LED behavior, allowing specified features to emit a specified color light when receiving a signal
	Light Source	Add a light source behavior, allowing specified spotlight to emit light when receiving a signal
	Nozzle	Add a nozzle behavior, allowing specified pen device to spray a specified color when receiving a signal
	Vacuum Gripper	Add a vacuum gripper behavior, allowing specified active connector to connect with passive connector when receiving a signal

Actuators

	Rotation Actuator	Add a rotary actuator behavior, which can control specified hinge joint when receiving a signal
	Linear Actuator	Add a linear actuator behavior, which can control specific slider joint when receiving a signal

Sensor

	Camera	Add a camera behavior, controlling camera device to capture images and store them at a specified location when receiving a signal
	Color Sensor	Add a color sensor behavior, which can detect red color within a specified distance range when receiving a signal
	Micro switch	Add a microswitch behavior, sending a signal when a specified touch device is touched
	Optical sensor	Add an optical sensor behavior, sending a signal when a specified distance sensor beam detects an object
	Reed Switch	Add a reed switch behavior, sending a signal and turning on specified LED when a touch device is sensed to be in contact
	3D Camera	Add a 3D camera, capturing object depth and contours and storing them at a specified path when receiving a signal

Material Flow

	Sink	Add a behavior that allows an object to disappear at specified coordinates, making the simulation look like manual unloading
	Source	Add a behavior that allows an object to appear at specified coordinates, making the simulation look like manual loading

Robotics

	Executor	Add an executor, all controllers need to be paired with an executor to operate properly
	Servo Controller	Add a servo motor controller, performing robot kinematics calculations on specified links
	Robot Controller	Add a Cartesian robot controller to operate three-dimensional Cartesian coordinate system (X, Y, Z) robots
	SCARA Controller	Add a four-axis arm controller, performing robot kinematics calculations on specified links
	Delta SCARA	Add a Delta four-axis arm controller, performing robot kinematics calculations on specified links
	Delta 5-Axis	Add a Delta five-axis controller, performing robot kinematics calculations on specified links
	Articulated Controller	Add a six-axis arm controller, performing robot kinematics calculations on specified links
	Delta Articulated	Add a Delta six-axis arm controller, performing robot kinematics calculations on specified links