.. _get_workpiece_weight:

get_workpiece_weight
------------------------------------------
Starts a payload measurement and returns the measured workpiece weight in kg, relative to the last reset_workpiece_weight. It does not return the value set with set_workpiece_weight. The arm must be in STANDBY with servo on. A virtual robot returns 0. A refused or unsent measurement also returns 0, so a return of 0 does not distinguish a failure from a zero weight.

The returned value represents the workpiece component of the total payload (excluding tool weight).

**Definition** |br|
``DRFLEx.h`` within class `CDRFLEx`, public section

.. code-block:: cpp

    float get_workpiece_weight() {
        return _get_workpiece_weight(_rbtCtrl);
    };

**Parameter** |br|
None

**Return**

.. list-table::
   :widths: 25 75
   :header-rows: 1

   * - **Value**
     - **Description**
   * - float
     - Measured workpiece weight in kilograms (kg).

.. Caution::

   Ensure the servo is on and the arm is stationary before calling.

   After the measurement completes, the function sends a slow stop, the same as :ref:`stop(STOP_TYPE_SLOW) <stop>`, which stops any motion in progress.

**Example**

.. code-block:: cpp

   // Measure the current workpiece weight
   float weight = drfl.get_workpiece_weight();

   // Print the measured weight value
   printf("Current workpiece weight: %.3f kg\n", weight);

This example measures the current workpiece weight and prints the value to the console for verification or monitoring.