ROBOTIS Tech Support v1.03.00
This command is used to pause execution when a conditional clause is true.
It is the equivalent of the "while" function in C language.
Conditional clause is a feature to perform different actions depending on whether the condition evaluates to true (condition is met) or false (condition is not met).
Conditional clause is composed of the following 3 parts: parameter 1, relational operator, and parameter 2 in order.
![]()
These are 6 types of relational operators.

!= : True if the two parameters are not equal.
>= : True if parameter 1 is greater than or equal to parameter 2.
> : True if parameter 1 is greater than parameter 2.
<= : True parameter 1 is less than or equal to parameter 2.
< : True if parameter 1 is less than parameter 2.
Conditional clause can be combined into a complex conditional clause using conditional operators.
A complex conditional clause is composed of the following 3 parts: conditional clause 1, conditional operator, conditional clause 2.
![]()
There are 3 types of conditional operators.

then : Does not link any clauses.
AND(&&): True if both conditional clauses are true.
OR(||): True if one of the conditional clauses is true.
There is no limit to how many conditional clauses can be combined into one complex conditional clause. Each conditional clause is evaluated in order, and the final value will be either "true" or "false."
![]()