Kinetix 6000-How do you get a Axis to move when another is in a certain position?

Good Morning ,

I am still trying to understand motion . I have a Kinetix 6000 system with about 14 Axis . This machine has a pusher that needs to be back before a wheel rotates. Could you give me a instruction sample , that the pusher needs to be at a particular position before the wheel begins to rotate. I am having a difficult time understanding the instructions to accomplish this. In my small mind , and the simple programming that I do , I would you limit instructions , less than , etc. I know it is not that easy in motion programming .Could you guys give me some simple examples on how you accomplish that .

Thanks so much ,

this may help

https://www.youtube.com/watch?v=9IrSTv3EZq0

Thank you so much for that link . I need to study this more .