DELAY program instruction DELAY program instruction Syntax DELAY time Function Cause robot motion to stop for the specified time. Usage Considerations The robot stops during the delay, but the wait and nulling normally associated with a motion BREAK do not occur. Program execution continues during the delay, up to the next motion instruction in the program. (eV+ system timers can be used to control the timing of program execution. The DELAY instruction should not be used for that purpose.) The DELAY instruction is interpreted as a straight-line move-to-here motion instruction.
(See below for the consequences of that interpretation.) The DELAY instruction can be executed by any program task as long as the task has attached a robot. The instruction applies to the robot selected by the task. If the eV+ system is not configured to control a robot, executing the DELAY instruction causes an error. If the AMOVE instruction has been executed to prepare for motion of an extra axis, execution of the DELAY instruction cancels the effect of the AMOVE instruction. Parameter time Real value, variable, or expression that specifies the length of time, in seconds, that the robot is to pause. A time value less than 0.016 (16 milliseconds) results in a 16- millisecond delay.
Details The DELAY instruction is processed as a robot motion. As a result, the following consequences occur when a DELAY is executed: 1. Any pending hand actuation takes place during the execution of the DELAY instruction. 2. Any temporary trajectory switches that have been specified are cleared after the eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 161