RobotStudio event

determine a move instruction has completed


I have a socket connection linked up to RAPID code on my IRC5, where I send position data to the robot. What seems to happen is that each new instruction is loaded in to an instruction queue, and the RAPID code continues on in parallel whilst that queue is executed. I need to know when my last instruction arrives at the destination so that can inform the socket client that the robot is in position. Is there any kind of flag/event/signal/interrupt I can set up to poll after I send the last instruction? or set a move instruction to only return on completion?

Thanks in advance!

Best Answer

  • Chromatophore
    Answer ✓
    You post a question and immediately find the answer, RAPID instruction WaitRob should do the trick.


  • PetrB
    How does WaitRob works in MultiMove systems, since there is no parameter to specify the robot?
  • The RAPID manual does not say specifically but it can probably only be used in the motion task which specific to each robot.