check_motion()

#1. The next motion (q99) is executed when an asynchronous motion to q0 begins decelerating
q0 = posj(0, 0, 90, 0, 90, 0) 
q99 = posj(0, 0, 0, 0, 0, 0)
amovej (q0, vel=10, acc=20)         # Executes the next command immediately after the motion to q0.
while True:
if check_motion()==0:               # A motion is completed.
   amovej (q99, vel=10, acc=20)     # Joint motion to q99.
   break
if check_motion()==2:               # In motion
   pass
mwait(0)                            # Temporarily suspends the program execution until the motion is terminated.