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disable_alter_motion (Manual Mode)

This section describes how to use disable_alter_motion to terminate alter motion mode safely after performing manual path adjustments. It restores normal motion control and prevents additional user-thread modifications.

Typical usage

• Disable once you’ve completed touch-up or calibration.

• Prevent accidental operator input from altering the robot’s pose post-alignment.

• Frequently called before recording new user frames or TCP positions.

Note

• Immediately deactivates alteration input.

• Should be called before switching back to jogging or Auto mode.

Example: Safely Ending Alter Mode After Manual Correction

#include "DRFLEx.h"
using namespace DRAFramework;

int main() {
    CDRFLEx drfl;

    // After performing manual fine-tuning
    printf("Finishing manual trim process...\n");

    drfl.disable_alter_motion();

    printf("Alter motion disabled. Robot control returned to normal state.\n");

    return 0;
}

Tips

• Always disable before changing coordinate frames or saving pose data.

• If alter mode remains active, it may interfere with future program commands.