For information on the latest version, please have a look at GL013301.
config_program_watch_variable (Manual Mode)
This section explains how to use config_program_watch_variable during Manual (Teach) operations. This function registers variables to be monitored and displayed on the Teach Pendant (TP) Watch tab while a DRL program is running or being manually executed. It allows operators to track variable values such as speed, torque, counters, or user-defined parameters in real time.
Typical usage
Display selected variables on the TP for visual feedback during manual teaching.
Monitor changing process values (e.g., force, position, loop counters) while adjusting motions.
Debug user-defined DRL variables interactively without pausing the program.
Use with sensor or parameter tuning tasks for live observation.
Note
The watch list can display multiple variables simultaneously.
Example: Register and monitor custom teaching variables
#include "DRFLEx.h"
#include <iostream>
#include <thread>
using namespace std;
using namespace DRAFramework;
CDRFLEx drfl;
int main()
{
drfl.open_connection("192.168.137.100");
// Example 1: Global variable - teaching speed
bool result1 = drfl.config_program_watch_variable(VARIABLE_TYPE_GLOBAL,
DATA_TYPE_FLOAT,
"teach_speed",
"0.25");
if (result1)
cout << "[WATCH] Added variable 'teach_speed' (0.25)\n";
// Example 2: Program variable - counter
bool result2 = drfl.config_program_watch_variable(VARIABLE_TYPE_PROGRAM,
DATA_TYPE_INT,
"cycle_count",
"10");
if (result2)
cout << "[WATCH] Added variable 'cycle_count' (10)\n";
// Example 3: String variable - operator name
drfl.config_program_watch_variable(VARIABLE_TYPE_GLOBAL,
DATA_TYPE_STRING,
"operator_name",
"\"John\"");
cout << "[WATCH] Registered string variable 'operator_name' = John\n";
cout << "[Teach] You can now view these variables in TP > Watch tab.\n";
// Keep process alive for TP observation
while (true)
this_thread::sleep_for(chrono::seconds(3));
return 0;
}
When called, this function adds the specified variables to the TP Watch panel for real-time observation during teaching or DRL program execution. It helps users verify logic correctness, parameter updates, and dynamic state changes without interrupting robot operation.
Tips
Use for live monitoring of global or program variables during teaching.
Combine with set_on_tp_log to track variable changes alongside log messages.
Useful for debugging loops, counters, and tuning parameters in real time.