disable_alter_motion()

def alter_thread():
    global dir_a, wait_time
    alter_motion(dX) #dX : amount of alter motion

    if dX[0] > 9.9:
        dir_a = -10
    elif dX[0] < -9.9:
        dir_a = 10

    dX[0] = dX[0] + dir_a
    dX[3] = dX[3] + dir_a

    wait(wait_time)

dX = [10,0,0,10,0,0]

# Starting from V3.4, various orientation types are supported depending on the ori_type setting in posx():
# dX = posx([10, 0, 0, 0, 0, 10], ori_type=DR_ELR_ZYZ, sol=None, turn=None)

J00 = posj(30,45,45,0,90,0)
movej(J00,vel=100,acc=100)

X1,sol = get_current_posx(DR_BASE)

J01 = posj(-30,45, 45,0,90,0)
movej(J01,vel=100,acc=100)

X2,sol = get_current_posx(DR_BASE)

# Alter motion is executed during the cycle time 
cycle_time = 0.6 

n_period = int(cycle_time * 1000 / 50)
wait_time = cycle_time

# cycle time:(n_period * 10)msec, mode:accumulate, reference coordination:base coordination
# Lmitation of accumulation amount :50mm, 90deg
# Limitation of increment amount :60mm, 60deg
# Limit Alarm can occur if the cycle time is too short compare to the amount of alter motion
enable_alter_motion(n=n_period,mode=DR_DPOS, ref=DR_BASE, limit_dPOS=[50,90], limit_dPOS_per=[60,60])

th_id = thread_run(alter_thread, loop=True)

movel(pos=X1,vel=10,acc=100)
movel(pos=X2,vel=10,acc=100)

thread_stop(th_id)
disable_alter_motion() # deactivates alter motion