Basic Characteristics RAPID

WaitUntil Waits until a condition is met
Example
Arguments
WaitUntil is used to wait until a logical condition is met; for example, it can wait until
one or several inputs have been set.
WaitUntil di4 = 1;
Program execution continues only after the di4 input has been set.
WaitUntil [\InPos] Cond [\MaxTime] [\TimeFlag]
[\InPos] Data type: switch
If this argument is used, the robot and external axes must have stopped moving
before the condition starts being evaluated.
Cond Data type: bool
The logical expression that is to be waited for.
[\MaxTime] Data type: num
The maximum period of waiting time permitted, expressed in seconds. If this
time runs out before the condition is set, the error handler will be called, if there
is one, with the error code ERR_WAIT_MAXTIME. If there is no error handler,
the execution will be stopped.
[\TimeFlag] (Timeout Flag) Data type: bool
Program execution
The output parameter that contains the value TRUE if the maximum permitted
waiting time runs out before the condition is met. If this parameter is included in
the instruction, it is not considered to be an error if the max. time runs out. This
argument is ignored if the MaxTime argument is not included in the instruction.
If the programmed condition is not met on execution of a WaitUntil instruction, the
condition is checked again every 100 ms.
When the robot is waiting, the time is supervised, and if it exceeds the max time value,
the program will continue if a TimeFlag is specified, or raise an error if it’s not. If a
TimeFlag is specified, this will be set to TRUE if the time is exceeded, otherwise it will
be set to false.
RAPID Reference Manual 8-WaitUntil-1