5
Startup
Robot program
Assembly and Operating Instructions – Parallel Arm Kinematics Kit
48
4. Parameterize the argument of the while loop:
[3]
[1]
[2]
[4]
[5]
20628968203
[1]
Argument of the while loop: Bool variable
[2]
Drop-down list to replace [1]
[3]
Line with while loop start
[4]
Lines to be repeated until [1] is fulfilled.
[5]
Line with while loop end
5. Move the start and end of the while loop to the desired program lines.
Wait command
The WAIT command leads to a pause until the condition is fulfilled.
WAIT
condition
The condition can be a bool variable or a status signal, e.g. "end of motion" (MO-
TION_DONE).
Waiting for adding bool variable
1. Mark the line under which you want to insert the waiting for bool variable.
2. Select the value "WAIT_BOOLVAR" in the drop-down list "New Block".
3. Click the [Add] button.
4. Parameterize the waiting for bool variable:
[1]
[2]
[3]
[4]
20631214987
[1]
Line Number
[2]
Identification for a wait command
[3]
Argument of the wait command: Bool variable
[4]
Drop-down list to replace [3]
Waiting for adding end of motion
1. Mark the line under which you want to insert the waiting for adding end of motion.
2. Select the value "WAIT_MOTIONDONE" in the drop-down list "New Block".
25797530/EN – 04/2018
