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.