.. _mwait:

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

.. code-block:: cpp

    bool mwait() { return _mwait(_rbtCtrl); };

**Parameter** |br|  
None

**Return**

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

   * - **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**

.. code-block:: cpp

    // 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.