Delay#

This command is used to add a time delay after a motion command. In other words, the robot completes all movements sent before the Delay command and stops temporarily. (In contrast, the PauseMotion command interrupts the motion as soon as received by the robot.)

Syntax#

Delay(t)

Arguments#

  • t: desired pause duration in seconds.

Usage restrictions#

This command is added to the robot’s motion queue and can only be executed when the robot is ready for motion, not in an error state and when no safety signal conditions are present. Otherwise, the robot will report one of the following:

  • [1005][The robot is not activated.]

  • [1011][The robot is already in error.]

Cyclic protocols#

In cyclic protocols, the Delay command is represented by MotionCommandID 6. See Section 4.2 for more details.