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The Wait tab of the conversational notebook allows the user (on the Conversational tab) allows you to create commands inside a robot program that will pause program execution either for a set amount of time or until a specific event occurs. There are five different types of wait command available on this tab (a sixth type, wait for a connected machine tool, is available on the PathPilot tab):
Wait for a set amount of time (sleep).
Wait until a digital input changes state (while > sync).
Wait until the user clicks Cycle Start (similar to M0 in CNC applications).
Optionally wait until the user clicks Cycle Start (similar to M01 break in CNC applications).
Exit the program.
Both pause and optional pause commands can be programmed to allow the user you to manually jog the machine while the program is paused by selecting the Allow Jogging checkbox.
To add one of these commands to a robot program, select the radio button to the left of the desired wait command and click then select Add To Program.