disable_alter_motion (Manual Mode)

This section describes how to use disable_alter_motion to terminate alter motion mode safely after performing manual path adjustments. It restores normal motion control and prevents additional user-thread modifications.

Typical usage

  • Disable once you’ve completed touch-up or calibration.

  • Prevent accidental operator input from altering the robot’s pose post-alignment.

  • Frequently called before recording new user frames or TCP positions.

Note

  • Immediately deactivates alteration input.

  • Should be called before switching back to jogging or Auto mode.

Example: Safely Ending Alter Mode After Manual Correction

// After performing manual fine-tuning
printf("Finishing manual trim process...\n");

drfl.disable_alter_motion();

printf("Alter motion disabled. Robot control returned to normal state.\n");

Tips

  • Always disable before changing coordinate frames or saving pose data.

  • If alter mode remains active, it may interfere with future program commands.