Apparatus including actuator and/or heater and method for controlling said apparatus

A method for controlling an apparatus including at least one of an actuator or a heater, the method comprising:

• obtaining an application defined by a plurality of blocks that drive the at least one of the actuator or the heater, each of the plurality of blocks including a parameter for driving the at least one of the actuator or the heater, the plurality of blocks including a first block and a second block executed after the first block;
• consulting a first rule that defines a first parameter range within which the at least one of the actuator or the heater is not permitted to be driven, and modifying the application by changing a parameter of the first block so as to satisfy a start condition of the second block;
• and
• driving the at least one of the actuator or the heater based on the application modified.

An apparatus comprising:

• at least one of an actuator or a heater;
• and
• a controller that controls the at least one of the actuator or the heater, wherein
• the controller:
• obtains an application defined by a plurality of blocks that drive the at least one of the actuator or the heater, each of the plurality of blocks including a parameter for driving the at least one of the actuator or the heater, the plurality of blocks including a first block and a second block executed after the first block;
• determines, based on an end condition of the first block, a first rule that defines a first parameter range, of the second block, within which the at least one of the actuator or the heater is permitted to be driven,
• consults the first rule determined and modifies the application by changing the second block;
• and
• drives the at least one of the actuator or the heater based on the application modified.