Basic Characteristics RAPID

Examples
Limitation
Syntax
VAR bool timeout;
WaitUntil start_input = 1 AND grip_status = 1\MaxTime := 60
\TimeFlag := timeout;
IF timeout THEN
TPWrite "No start order received within expected time";
ELSE
start_next_cycle;
ENDIF
If the two input conditions are not met within 60 seconds, an error message will
be written on the display of the teach pendant.
WaitUntil \Inpos, di4 = 1;
Program execution waits until the robot has come to a standstill and the di4 input
has been set.
If the argument \Inpos is used, the movement instruction which precedes this instruction
should be terminated with a stop point, in order to be able to restart in this instruction
following a power failure.
WaitUntil
[’\’InPos’,’]
[Cond ’:=’]
[’\’MaxTime ’:=’]
[’\’TimeFlag’:=’] ’;’
Related information
Described in:
Waiting until an input is set/reset Instructions - WaitDI
Waiting a given amount of time Instructions - WaitTime
Expressions Basic Characteristics - Expressions
8-WaitUntil-2 RAPID Reference Manual