[theodoros]

I wanted to know as I'm currently working on a project to automatically pick and place 0402 SMD components with a Staubli TX60 robot using RoboDK.

I need to move the robot to a specific target and then apply a pause/wait untill another task is executed. Tried the robot.pause() or sleep() but these commands are only recognized from the RoboDK environment, not from the CS8C (VAL3) controller.

Modifyng the VAL3 script to access the RunCode() function can be a way but the actual version of VAL3 in my laptop doesnt support it (modifications from administrators could give access to the source code).

[Albert]

You can use the IO instruction to wait for Digital Input to match a certain value. If you can share a sample project we can better understand what you are trying to do.

You may need to customize the post processor depending on how you integrated your IO board with your Staubli robot.

[theodoros]

Hello Albert thanks a lot for your reply.
The hardware was already done when i got the project. I had the same issue when it comes to activating and deactivating the vacuum gripper as the controller has no digital IO pins, that was to be done through OPC UA to connect to the PLC.
I will forward a template of the project and you can have a clearer idea of it.