mwait (Manual Mode)

This section explains how to use mwait during Manual (Teach) operations. Although defined in 3.1 Common, it is frequently used in teaching to synchronize motion steps and ensure the robot has fully stopped before proceeding to the next action.

Typical usage

  • Wait until all current motions (e.g., jog, move, or blend) are completed.

  • Prevent overlapping commands during step-by-step teaching.

  • Used after stop, move_pause, or any manual jogging action.

Note

mwait() blocks program execution until the controller reports the robot is stationary. This is useful in manual teaching sequences where the operator wants to guarantee motion stability before performing a visual check or starting the next movement.

Example: Step-by-step Manual Teaching

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

int main() {
    CDRFLEx drfl;
    // Assume connection, Manual mode, and servo ON are active.

    // 1) Move to an initial position
    float pose1[6] = {500.0f, 200.0f, 400.0f, 180.0f, 0.0f, 90.0f};
    drfl.movel(pose1, 50, 50);
    drfl.mwait();  // wait until motion completes

    // 2) Perform a short jog for fine adjustment
    drfl.jog(JOG_AXIS_TASK_Z, MOVE_REFERENCE_TOOL, -5.0f);
    std::this_thread::sleep_for(std::chrono::milliseconds(500));
    drfl.stop(STOP_TYPE_SLOW);
    drfl.mwait();  // ensure stable stop before the next move

    // 3) Proceed to next taught position
    float pose2[6] = {550.0f, 250.0f, 420.0f, 180.0f, 0.0f, 90.0f};
    drfl.movel(pose2, 40, 40);
    drfl.mwait();

    return 0;
}

Tips

  • Always call mwait() before issuing the next motion to avoid command overlap.

  • Especially useful when combining manual jogs and automatic moves in a mixed teaching sequence.

  • When integrating with external control (e.g., GUI or voice command), mwait() ensures safe sequencing.