Wait Until Time Delay
- Comala Publishing
Wait until the specified amount of time has passed. When the condition is met, the wait until command will finish.
Fieldbus Interface
PMC_WaitUntilTimeDelay
Ethernet Interface
PMCRTN WaitUntil(ushort cmdLabel, int xbotID, TRIGGERSOURCE triggerSource, WaitUntilTriggerParams triggerParameters)
Conditions
Operating Conditions | |
|---|---|
Preconditions | |
Postconditions | If the XBot is ready to immediately begin executing the command, then the XBot will enter the Waiting state. Otherwise, the XBot state remains unchanged, but the command will be added to the XBot's motion buffer. |
Description
Wait Until commands ensure an XBot does not execute additional commands until certain configurable conditions are met, this command waits until the specified amount of time has passed.
Consider the following trajectory:
XBot 2 must wait for XBot 1 to complete its motion before XBot 2 can move to its target destination.
XBot 2 can execute a Wait Until command using Time Delay before executing its motion command: It will wait a user specified amount of time (s), then execute its motion command. By specifying a waiting time equal to XBot 1’s motion command travel time, XBot 2 can move immediately after XBot 1 clears its path. XBot 1’s motion command travel time is provided in the PMC reply for that command request.
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