You're reading the documentation for an older, but still supported version (1.33.4).
For information on the latest version, please have a look at 1.33.5.
For information on the latest version, please have a look at 1.33.5.
mwait
This function waits for the motion of the preceding motion command to finish. Combined with an asynchronous motion command, it produces the same motion as a synchronous command.
Definition
DRFLEx.h within class CDRFLEx, public section
bool mwait() { return _mwait(_rbtCtrl); };
Parameter
None
Return
Value |
Description |
|---|---|
0 |
Error occurred while waiting for motion completion. |
1 |
Successfully waited until the preceding motion command finished. |
Note
Returns false without a message when the robot is in STATE_EMERGENCY_STOP, STATE_SAFE_OFF, STATE_SAFE_OFF2, STATE_SAFE_STOP or STATE_SAFE_STOP2.
Example
// Define target joint position
float point[NUM_JOINT] = {30, 30, 30, 30, 30, 30};
// Execute asynchronous motion command
Drfl.movej(point, 60, 120);
// Wait for the motion to complete before proceeding
Drfl.mwait();
This example demonstrates how to synchronize an asynchronous motion command using mwait().
The function pauses program execution until the robot finishes the current motion.