check_position_condition_abs (Auto Mode)

This section explains how to use check_position_condition_abs during Auto (Run) operations to verify whether the absolute position of a specific axis is within a predefined range.

It is mainly used to confirm motion completion, position safety, or sequence transitions in automated processes.

Typical usage

  • Check if the robot has reached a target position range before executing the next step.

  • Verify that the TCP stays within workspace limits during automated operation.

  • Combine with check_force_condition to implement hybrid position–force conditions.

  • Use in loops or conditional statements for motion-based decision logic.

Note

  • If eForceReference = COORDINATE_SYSTEM_TOOL, input positions should still be defined in BASE coordinates.

Example: Check TCP Position Range During Auto Motion

#include "DRFLEx.h"
#include <cstdio>
#include <thread>
#include <chrono>
using namespace DRAFramework;

int main() {
    CDRFLEx drfl;

    // Preconditions:
    // - Connection established
    // - Servo ON, Auto (Run) mode active

    // 1) Define motion path
    float startPos[6] = {400.f, 300.f, 500.f, 180.f, 0.f, 0.f};
    float endPos[6]   = {400.f, 300.f, 200.f, 180.f, 0.f, 0.f};

    // 2) Move toward the target position
    drfl.movel(endPos, (float[2]){80.f, 30.f}, (float[2]){200.f, 100.f});

    // 3) Continuously check Z-axis absolute position condition
    bool reached = false;
    while (!reached) {
        reached = drfl.check_position_condition_abs(FORCE_AXIS_Z, 195.f, 205.f, COORDINATE_SYSTEM_BASE);
        std::this_thread::sleep_for(std::chrono::milliseconds(100));
    }

    printf("Target Z-position range reached. Proceeding to next task.\n");
    drfl.stop(STOP_TYPE_QUICK);

    return 0;
}

In this example, the robot moves downward while continuously monitoring its absolute Z-axis position. Once the TCP enters the target range (195–205 mm), the condition becomes True, and the robot stops or continues to the next sequence step.

Tips

  • Use COORDINATE_SYSTEM_BASE for general workspace monitoring.

  • Apply narrow position ranges for precise motion control and broader ranges for safe boundaries.

  • Combine with check_force_condition() for synchronized force–position checks.

  • Poll periodically (every 50–100 ms) to ensure responsive and safe automation control.