mwait

This is a function for waiting for the termination of the motion of the preceding motion command in the robot controller. If an asynchronous motion command is combined with this function, it can execute the same motion as a synchronous command.

Definition
DRFLEx.h within class CDRFLEx, public section (line 768)

bool mwait() { return _mwait(_rbtCtrl); };

Parameter
None

Return

Value	Description
0	Error occurred while waiting for motion completion.
1	Successfully waited until the preceding motion command finished.

Example

#include "DRFLEx.h"
using namespace DRAFramework;

int main() {
    CDRFLEx Drfl;

    // Define target joint position
    float point[NUM_JOINT] = {30, 30, 30, 30, 30, 30};

    // Execute asynchronous motion command
    Drfl.movej(point, 60, 120);

    // Wait for the motion to complete before proceeding
    Drfl.mwait();

    return 0;
}

This example demonstrates how to synchronize an asynchronous motion command using mwait(). The function pauses program execution until the robot finishes the current motion.