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The Wait tab (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.

Add a Wait Command to a Robot Program

  1. Select the radio button to the left of the desired wait command and then select Add To Program.

Note: To program pause and optional pause commands to allow you to manually jog the machine while the program is paused, select the Allow Jogging checkbox.

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