TOnMasteringNeedCB

This is a callback function for checking if the robot’s axes have been twisted or misaligned due to external force in the robot controller. When this event occurs, the robot requires re-mastering (axis alignment) through homing. The alignment completion can then be verified using the TOnHommingCompletedCB callback.

As the callback function is executed automatically in the case of a specific event, a code that requires an excessive execution time (within 50 msec) inside the callback function should not be made.

Defined in: DRFL.h

// typedef (DRFL.h)
typedef void (*TOnMasteringNeedCB)();

// registration API (internal + wrapper)
DRFL_API void _SetOnMasteringNeed(LPROBOTCONTROL pCtrl, TOnMasteringNeedCB pCallbackFunc);
void SetOnMasteringNeed(TOnMasteringNeedCB pCallbackFunc)
{
    _SetOnMasteringNeed(_rbtCtrl, pCallbackFunc);
};

Parameter
None

Return
None

Example

#include "DRFL.h"
#include <iostream>
using namespace DRAFramework;
using namespace std;

// Callback triggered when robot mastering (axis alignment) is required
void OnMasteringNeedCB()
{
    cout << "[MASTERING] Axis misalignment detected. Starting homing sequence..." << endl;

    // Initiate homing mode for re-alignment of robot axes
    drfl.move_home(true);
}

int main()
{
    CDRFL drfl;

    // Connect to the robot controller
    if (!drfl.open_connection("192.168.137.100")) {
        cout << "Failed to connect to controller." << endl;
        return -1;
    }

    // Register mastering-needed callback
    drfl.set_on_mastering_need(OnMasteringNeedCB);

    // Keep program alive to monitor events
    while (true)
    {
        std::this_thread::sleep_for(std::chrono::seconds(1));
    }

    drfl.close_connection();
    return 0;
}

Notes

• This callback is invoked when the controller detects axis offset that requires re-mastering.

• Use this event to trigger an automatic homing or alignment process.

• Avoid heavy computation or blocking calls inside the callback (execution < 50 ms).

• Use TOnHommingCompletedCB to confirm when re-alignment finishes.