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For information on the latest version, please have a look at GL013301.

set_on_mastering_need

This is a function for registering the callback function that automatically checks if the robot’s axes have been twisted due to external force in the robot controller. It is useful when functions that should be executed automatically are made.

Definition
DRFLEx.h within class CDRFLEx, public section (line 651)

void set_on_mastering_need(TOnMasteringNeedCB pCallbackFunc) {
    _set_on_mastering_need(_rbtCtrl, pCallbackFunc);
};

Parameter

Parameter Name	Data Type	Default Value	Description
pCallbackFunc	TOnMasteringNeedCB		Refer to definition of callback function

Return
None

Example

void OnMasteringNeedCB()
{
    // Starts the homing mode for the alignment of the robot’s axes
    drfl.Homming(true);
}

int main()
{
    drfl.set_on_mastering_need(OnMasteringNeedCB);
}

When registered, this callback is executed automatically if the controller detects axis misalignment caused by external force. It triggers the homing procedure to realign all robot joints, ensuring proper position calibration before resuming normal operation.