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
PY
#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.