config_program_watch_variable (Manual Mode)

This section explains how to use config_program_watch_variable during Manual (Teach) operations. This function registers variables to be monitored and displayed on the Teach Pendant (TP) Watch tab while a DRL program is running or being manually executed. It allows operators to track variable values such as speed, torque, counters, or user-defined parameters in real time.

Typical usage

• Display selected variables on the TP for visual feedback during manual teaching.

• Monitor changing process values (e.g., force, position, loop counters) while adjusting motions.

• Debug user-defined DRL variables interactively without pausing the program.

• Use with sensor or parameter tuning tasks for live observation.

Note

• The watch list can display multiple variables simultaneously.

Example: Register and monitor custom teaching variables

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

CDRFLEx drfl;

int main()
{
    drfl.open_connection("192.168.137.100");

    // Example 1: Global variable - teaching speed
    bool result1 = drfl.config_program_watch_variable(VARIABLE_TYPE_GLOBAL,
                                                      DATA_TYPE_FLOAT,
                                                      "teach_speed",
                                                      "0.25");
    if (result1)
        cout << "[WATCH] Added variable 'teach_speed' (0.25)\n";

    // Example 2: Program variable - counter
    bool result2 = drfl.config_program_watch_variable(VARIABLE_TYPE_PROGRAM,
                                                      DATA_TYPE_INT,
                                                      "cycle_count",
                                                      "10");
    if (result2)
        cout << "[WATCH] Added variable 'cycle_count' (10)\n";

    // Example 3: String variable - operator name
    drfl.config_program_watch_variable(VARIABLE_TYPE_GLOBAL,
                                       DATA_TYPE_STRING,
                                       "operator_name",
                                       "\"John\"");
    cout << "[WATCH] Registered string variable 'operator_name' = John\n";

    cout << "[Teach] You can now view these variables in TP > Watch tab.\n";

    // Keep process alive for TP observation
    while (true)
        this_thread::sleep_for(chrono::seconds(3));

    return 0;
}

When called, this function adds the specified variables to the TP Watch panel for real-time observation during teaching or DRL program execution. It helps users verify logic correctness, parameter updates, and dynamic state changes without interrupting robot operation.

Tips

• Use for live monitoring of global or program variables during teaching.

• Combine with set_on_tp_log to track variable changes alongside log messages.

• Useful for debugging loops, counters, and tuning parameters in real time.