check_motion (Manual Mode)

This section explains how to use check_motion during Manual (Teach) operations. Although defined in 3.1 Common, it is especially useful when monitoring whether a robot motion command is currently active, being planned, or completed during manual or step-based movement.

Typical usage

• Confirm that the robot has completed a move command before issuing the next.

• Use in polling loops or step-wise teaching sequences to synchronize motions.

• Verify the robot is idle before applying safety actions (e.g., servo_off).

Note

• The function is non-blocking and can be safely used in tight polling loops.

• Recommended to combine with mwait() or get_robot_state() for robust synchronization.

Example: Wait until motion is complete before next move

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

int main() {
    CDRFLEx drfl;

    // Preconditions:
    // - Connection established (open_connection)
    // - Manual (Teach) mode active
    // - Servo power ON

    // 1) Execute first joint motion
    float q0[6]  = {0, 0, 90, 0, 90, 0};
    float q99[6] = {0, 0, 0, 0, 0, 0};
    drfl.movej(q0, 60, 30);

    // 2) Wait until the previous motion completes
    while (true) {
        int state = drfl.check_motion();
        if (state == 0) { // motion completed
            std::printf("[check_motion] Motion finished. Proceeding...\n");
            break;
        } else if (state == 1) {
            std::printf("[check_motion] Motion being calculated...\n");
        } else if (state == 2) {
            std::printf("[check_motion] Motion in progress...\n");
        }
        std::this_thread::sleep_for(std::chrono::milliseconds(200));
    }

    // 3) Start next motion after confirming completion
    drfl.movej(q99, 60, 30);

    return 0;
}

Tips

• check_motion() is ideal for synchronization in step-by-step motion tests.

• Always ensure the function returns 0 (idle) before sending new move commands.

• Useful before safety procedures like servo_off or release_protective_stop.

• When building teaching GUIs, use it to display motion state indicators (Idle / Calculating / Moving) in real time.