Wait

Description

The Wait command provides additional control of the robot's behavior. The Wait command pauses the robot's movement when new inputs are introduced into the program.

 

You can add a Wait command to a program with external sensors, to make the robot wait for one of the sensors to activate before the program continues.

 

When you add a Wait to your program tree, the Wait pane appears to the right of the screen.

 

See the following sections about using Wait:

 
Add a No Wait to a robot program

No Wait allows the robot to do nothing before continuing to run a program. There is no pause before new input.

 

  1. In your Robot Program, select the place or node where you wish to add a Wait command.

  2. Under Basic, tap Wait.

  3. On the right side of the screen, tap the No wait selector.

The No Wait command can be used a temporary placeholder be used, when you are programming your robot program.

 
Add Wait x seconds to a robot program

This Wait command type allows the robot to hold position for a defined amount of time before continuing a program.

 

  1. In your Robot Program, select the place or node where you wish to add a Wait command.

  2. Under Basic, tap Wait.

  3. Tap the Wait x seconds selector.

  4. Tap the number box to select a value that determines the length of the Wait.
Example: Wait x seconds

  1. If you have an object that needs to cool down to a specific temperature, you can add this time delay into the robot program.

  2. If you need an external operation to finish before continuing with the robot program.

 
Wait for digital input

This Wait command type allows the robot to hold position until a signal is received from a digital input.

Add a Wait for digital input to a robot program

  1. In your Robot Program, select the place or node where you wish to add a Wait command.

  2. Under Basic, tap Wait.

  3. Tap the Wait for Digital Input selector.

    More definition is required for this Wait type.

  4. In the Di.Input dropdown menu, select a new digital input.

  5. In the signal box, assign a Low or High signal type to the new digital input.

If you have multiple digital inputs, you can rename each one to make it easier to find them.
Example: Wait for digital input

If you have an external sensor at the end of a conveyor, you will use this function to wait for a command from the sensor, which tells the robot program that there is a work piece at the end of the conveyor.

 
Wait for analog input

This Wait command type allows the robot to hold position until a signal is received from an analog input.

Add a Wait for analog input to a robot program

  1. In your Robot Program, select the place or node where you wish to add a Wait command.

  2. Under Basic, tap Wait.

  3. Tap the Wait for analog input selector.

  4. In the An.input menu, select the new analog input.

  5. Tap the Volts box to select a value that determines the voltage.

  6. In the angle brackets box, select either the less than <, or the greater than > symbol.
Tip

 

If you have multiple analog inputs, you can rename each one to make it easier to find them. [Go to I/O setup]
Example: Wait for analog input

 

 If you have a temperature sensor that is set up to the analogue I/O, you can configure the robot program to wait until a specific temperature.
Wait for f(x) expression

This Wait command type allows the robot to hold position until an expression is True or [1]
Add a Wait for f(x) variable to a robot program

  1. In your Robot Program, select the place or node where you wish to add a Wait command.

  2. Under Basic, tap Wait.

  3. Tap the Wait for f(x) selector.

  4. Tap the f(x) variable field to add an expression value.
Example: Wait for f(x) expression

 

You can add a wait command with an expression that waits for two or more conditions to be true or false depending on configuration when using a machine and a conveyor sensor. Both the machine and the conveyor become ready for the robot.