Wait Instruction

    Hello Everybody,

    I would like to double check with you if I will use [ WAIT] instruction so the robot will stop at this statement until the condition to be achieved but my question during wait [ all lines after WAIT statement will not be performed " it's kind of sleep mode for the program " till the condition of the WAIT to be achieved " ]

    is it correct ?

    Thanks,

    Moelsayed

    Without knowing which robots you are talking about or what language you are using I would reply on a general basis that you are correct. WAIT is usually used to wait for conditions (I / O) or to wait for a specific amount of time. Some languages like KLR (KUKA) use "WAIT SEC 0" to stop the advance pointer of the program (the movements of the robot has to catch up before the interpreter continues to read and do calculations), but to the user this may not be noticed.

    WAIT will stop Main Robot Program Execution and Robot Movement, but it will not stop Thread execution.

    Say while the robot is waiting, you want to set a variable based on an Input you are monitoring... you can do that.

    Here's the test script I ran to test this:

    BeforeStart:

    Var_1 := 0

    Robot Program:

    WAIT: 30.0

    Thread_1:

    sync()

    IF DI1 = TRUE

    Var_1 := 1

    ELSE

    Var_1 := 0


    While this program ran, I monitored the variable values in the RUN tab and toggled DI1 in the I/O tab

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