ML_GroupWait

[aFouraker]

In the older firmware the ulitilty for waiting was available with the ML_GroupWait command. It could be buffered and provided a way to "pause" a series of buffered robot commands. What is the prescribed way to do the equivalent on the ctrlX?

[CodeShepherd · Accepted solution]

Can you tell us what you want to achieve exactly?

If you want to interrupt the movement at a certain point and continue later on you can use the function ML_KinInterrupt and ML_KinContinue out of the CXA_MOTION library.

If you want to wait for other commands or an external signal to synchronize some motion commands on a very exact scale you will have to use the SoMO (synchronized motion) functions: