On-demand quantum memory is an important step towards practical applications in various quantum information tasks such as long-distance entanglement distribution, quantum computation, and quantum networks. In this work, based on stimulated Raman adiabatic passage (STIRAP) protocol, we introduce a controllable delay between the reading and writing puleses so that the quantum state can be stored in the superconducting waveguide and finlly retrieved on demand with high fidelity. Through systematic numerical simulations, we find that if the duration of the writing pulse is set within a certain range, the readout unit is capable of retrieving the quantum state stored in the waveguide with high fidelity at any moment after a critical time. Moreover, we also investigate the robustness of our protocol, and find that the fidelity is robust against both the average number of thermal photons in the waveguide and the duration of the reading pulse. The numerical results also show that the area of the pulse in our protocol is only about one third of the pulse area in the original STIRAP protocol. This protocol might be uselful for sharing the entangled pairs between distant nodes, which is crucial to build quantum network.