Definition
mwait(time=0)
Features
This function sets the waiting time between the previous motion command and the motion command in the next line. The waiting time differs according to the time[sec] input.
Parameters
|
Parameter Name |
Data Type |
Default Value |
Description |
|---|---|---|---|
|
time |
float |
0 |
Waiting time after the motion ends [sec] |
Return
|
Value |
Description |
|---|---|
|
0 |
Success |
|
Negative value |
Error |
Exception
|
Exception |
Description |
|---|---|
|
DR_Error (DR_ERROR_TYPE) |
Parameter data type error occurred |
|
DR_Error (DR_ERROR_VALUE) |
Parameter value is invalid |
|
DR_Error (DR_ERROR_RUNTIME) |
C extension module error occurred |
|
DR_Error (DR_ERROR_STOP) |
Program terminated forcefully |
Example
Python
#Example 1. The robot moves to q1 and stops the motion 3 seconds after it begins the motion at q0 and then moves to q99
q0 = posj(0, 0, 90, 0, 90, 0)
amovej (q0, vel=10, acc=20) # Moves to q0 and performs the next command immediately after
wait(3) # Temporarily suspends the program execution for 3 seconds (while the motion continues).
q1 = posj(0, 0, 0, 0, 90, 0)
amovej (q1, vel=10, acc=20)
# Maintains the q0 motion (DUPLICATE blending if the ra argument is omitted) and iterates to q1.
# Performs the next command immediately after the blending motion.
mwait(0) # Temporarily suspends the program execution until the motion is terminated.
q99 = posj(0, 0, 0, 0, 0, 0)
movej (q99, vel=10, acc=20) # Joint motion to q99.