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Chapter 12 Robot Control Statements

12-61

WAIT (Statement) [Conforms to SLIM]

Function

Stops program processing based on a condition.

Format

WAIT <Conditional expression> [,<Timeout time>

[,<Storage variable>]]

Explanation

This statement stops program processing until <Conditional expression> is

satisfied.

If <Timeout time> is set, control stops the execution of a WAIT statement after

the designated time elapses and proceeds to the next command. Infinite

stoppage can be avoided by using this.

<Timeout time> is expressed in ms.

The reevaluation interval for monitoring <Conditional expression> or <Timeout

time> depends on the priority of the task.

In Version 1.8 or later, when

is set, the WAIT command will

assign TRUE (1) or FALSE (0) to the designated variable if control passes out

of the WAIT statement by the satisfied

or by timeout,

respectively.

Related Terms

DELAY

Example

DEFINT li1, li2, li3, li4, li5

WAIT li1 = 1 'Waits until li1=1issatisfied.

WAIT li2 = 0, 2000

'Waits until li2 = 0 is satisfied. Even if it is not satisfied

'after 2 seconds, the system proceeds to the next statement.

WAIT li3 = li4, li5 'Waits until li3 = li4 is satisfied. Even if it is not

'satisfied after the time of

'li5, the system proceeds to the next statement.

WAIT IO[10] = ON 'Waits until the 10th IO comes ON.

[Version 1.8 or later]

WAIT li3 = li4, li5, li6 'Wait until li3 = li4. If the conditional expression

'is not satisfied within li5 period, pass control to

'the next statement and assign FALSE to li6.

'If satisfied within li5 period, pass control to the

'next statement and assign TRUE to li6.

Notes

When using timeout time, if an instantaneous stop during execution of an

instruction is executed and the system is restarted, the designated time will

elapse even during suspension.

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