enable_alter_motion (Manual Mode)

This section explains how to use enable_alter_motion during Manual (Teach) operations. It activates alter motion mode, which lets you apply small trajectory corrections while a motion command (e.g., MoveL or MoveJ) is already running. This is especially useful for fine-tuning approach paths, adjusting tool orientation during contact, or visually correcting the TCP position under camera guidance.

Typical usage

• Enable before running a fine manual adjustment loop (using alter_motion).

• Define movement limits for both position and orientation to ensure safe manual control.

• Commonly used in precision teaching tasks such as welding start-point tuning or surface touch alignment.

Note

• Must be called in user thread before any alter commands.

• Once enabled, it remains active until explicitly disabled.

• The set limits prevent excessive tool displacement or orientation changes.

Example: Enable Alter Motion with Safety Boundaries

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

int main() {
    CDRFLEx drfl;

    // Step 1: Ensure robot is connected and in Manual Mode
    // (Assume servo ON and safe workspace conditions)

    // Step 2: Define safety limits for manual correction
    float fLimitDpos[2]     = {5.0f, 3.0f};   // ±5 mm (position), ±3° (rotation)
    float fLimitDposPer[2]  = {0.0f, 0.0f};

    // Step 3: Enable alter motion to allow micro path correction
    drfl.enable_alter_motion(5, PATH_MODE_DPOS, COORDINATE_SYSTEM_BASE,
                             fLimitDpos, fLimitDposPer);

    printf("Alter motion enabled. You can now apply small path adjustments.\n");

    return 0;
}

Tips

• Ideal to call just before visual or tactile alignment.

• Accumulation amount or increment amount isn’t be limited if limit_dPOS or limit_dPOS_per is None.

• Once alignment is done, use disable_alter_motion to finalize the pose.