Waiting commands¶
The calls that wait, in your program, for something the robot reports: the queued moves to finish, a mode, homing, the robot enabled, the errors cleared, or any condition of your own.
All of them:
- Run in the client. They read the status the robot sends, or the answers to the commands this client sent. A wait sends nothing to the robot.
- End with an exception when time runs out. A wait that runs out of time raises
RobotTimeout; so does a wait during which the connection drops.
| Command | What it does | Runs |
|---|---|---|
wait_idle |
Wait until every command this client queued has finished. | In the client |
wait_motion_complete |
Wait until the last command this client queued has finished. | In the client |
wait_mode |
Wait until the robot is in a given mode. | In the client |
wait_homed |
Wait until the robot is homed and no homing is running. | In the client |
wait_enabled |
Wait until the robot is enabled. | In the client |
wait_error_reset |
Wait until the robot reports no error and no warning. | In the client |
wait |
Wait until the robot's status meets a condition of your own. | In the client |
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