Wait Motion Command

Overview

The Wait Motion Command helps the robot to set 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.

Property

Annotation

You can insert text in the description, unique meaning, or nickname for each Parameter to differentiate with many DRL Components.

Parameters

In Parameter Panel, it will help you create or select your variable to define the parameter of the chosen command.

For detailed DRL description other than parameter, please refer to the following online manual link: https://manual.doosanrobotics.com/help/programming/2.9/publish/en_us/mwait-time-0-17147988.html.

Parameter Name	Data Type	Default Value	Description
time	float	0	Waiting time after the motion ends [sec]

Example

DRL Code

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.