2.2 Control Instruction
2-39
CWAIT
Instruction set:
Waits for the next instruction line to be carried out.
CWAIT is used with the NWAIT tag, an additional item of a move instruction.
<Step> <Instructions>
n MOVL V=100 NWAIT
DOUT OT#(1) ON
CWAIT
DOUT OT#(1) OFF
n+1 MOVL V=100
Turns ON the general-purpose output signal number 1 when the manipulator starts moving
from the step n to the step n+1, and turns it OFF when the manipulator reaches the step n+1.
SUBSET STANDARD EXPANDED
Not available Available Available
Function
Construction
CWAIT END
Example
Obsługa robora