[Alan Anderson]

If you really want to do different things based only on elapsed time, the easiest tool to use is probably the Flat Sequence. It looks like a movie timeline. Each frame in the sequence will run in turn after the previous frame has completed. If you place a simple Wait function in a frame, that frame will complete only after the specified time has elapsed.

The motor safeties will shut down the outputs if you don't keep setting a value continuously, so you need to either find a way to loop inside the frame to keep them happey, or just disable or lengthen the safety timeout.