Wait

A command to wait until whether the specified time elapsed or established the specified conditions.
It’s useful when start moving after a while after gripped a work by the hand.

Detailed Settings

• Wait Target
  Specify what to wait.

  • Time
    The program will pause for the specified time (in seconds).
    The waiting time range is from 0.00 to 2147483.00 seconds (to two decimal places).

  • Condition
    Restarts the program from next command after established the condition of waiting.

  KEY POINTS

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  When some conditions are set, the judgment is made in order from the condition set first. For example, when condition 1, 2 and 3 are set, the condition 1 and 2 is judged first. After that, the result of condition 1, 2 and condition 3 is judged.

  Steps to set conditions

  1. Tap [+Add Condition].
     

  2. Tap the dropdown menu and select the type of condition you want to set.
     

  • When setting with (input number)
    Select the number of Input signal and the state of the Input signal like the following.
    • By bit:
      “If (Input bits) equals (state: ON/OFF)”
    • By byte or word:
      “If (Input byte or word & mask) equals (state: numerical value)”

  KEY POINTS

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  Available to select category of Input and show less as you like by using the filter.

  • When setting with (hand)
    Judged by whether the hand is gripping a workpiece or not. Input like following below.
    “If (Hand (Gripped / Released)) equals (True / False)”

  • When setting with (RC+)
    This option is only available if you have configured the settings to import RC+ projects.
    The conditions are selected in the following format:
    "If (variable label/variable name) is (xx)"

  From the list of global variables defined in the imported RC+ project, select the variable to be used for the conditional check.
  The format of the condition will vary depending on the variable you select.

  Variable type		Options/Input Restrictions	Operators used when setting conditions
  Boolean	2 byte, True/False	True/False	=
  Byte	2 byte integer, -128 to +127	Only integers can be entered	= > < >= <= <>
  Integer	2 byte integer, -32768 to 32767
  Short	2 byte integer, -32768 to 32767
  Int32	4 byte integer, -2147483648 to 2147483647
  Int64	8 byte integer, -9223372036854775808 to 9223372036854775807
  Long	4 byte integer, -2147483648 to 2147483647
  Ubyte	Unsigned 2-byte integer, 0 to 255	0 or a greater integer can be entered	= > < >= <= <>
  Ushort	Unsigned 2-byte integer, 0 to 65535
  UInt32	Unsigned 4-byte integer, 0 to 4294967295
  UInt64	Unsigned 8-byte integer, 0 to 18446744073709551615
  Real	4-byte real number, significant digits: 6	Only numerical values can be entered	= > < >= <= <>
  Double	8-byte real number, significant digits: 14
  String	ASCII characters only, 255 characters max.		= <>

  3. If you want to add more conditions, tap the [+] button to add conditions.
     Available to add operators between conditions when there are more than two conditions.
     And: Both condition A and condition B is established.
     Or: Whether condition A or condition B is established.
     

• Timeout
  If you set a time in the [Conditions] section, you can set a timeout.
  When 0 is selected:
  Waits unconditionally until specified conditions established.
  If a value other than 0 is specified: After the specified timeout period has elapsed, the program will resume regardless of whether the conditions are met.

KEY POINTS

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For example, if you want to set the command to wait for 5 seconds until Input is turned ON under the condition, set the wait command as follows:

1. Select [Condition] as the target to wait for.
2. Specify the condition "If input bit 1 is ON".
3. Enter 5.0 seconds in the [Time] field.
   If the condition is not met after 5 seconds, a timeout occurs, the wait is canceled, and the process proceeds to the next step.