.. _tutorial_real_mode:

6.1.2 Real Mode
=====================================

.. image:: /tutorials/images/tutorials/tutorial_real_overview.png
   :alt: tutorial_real_overview
   :width: 100%
   :align: center

.. rubric:: Overview

**Real Mode** is used to execute robot motions and programs on an actual robot connected to the controller.  
It provides full physical control with **servo power, torque generation, and safety monitoring** enabled.  
All commands operate under real-time conditions, requiring proper safety setup and control authority.

This mode is ideal for:

- Running verified motion and DRL programs on a physical robot.  
- Performing calibration, force/torque control, or payload identification.  
- Integrating sensors, Modbus, or I/O devices in real hardware loops.

.. rubric:: Key Features

- **Full Hardware Control**: Commands drive actual servo motors and joints in real time.  
- **Active Safety Circuit**: Emergency Stop, Safe Stop, and Recovery systems are functional.  
- **Servo & Power Management**: Motion requires ServoOn; ServoOff immediately halts power.  
- **Sensor Feedback**: APIs such as `get_external_torque()` and `get_tool_force()` return real sensor data.  
- **Safety Monitoring**: Alarms, safety states, and IO events are updated through callbacks.  

.. rubric:: Notes & Cautions

- **ServoOn Required**: Always enable ServoOn before executing any motion.  
- **Safety Reset**: If in Safe Stop or Safe Off, perform a safety reset before continuing.  
- **Tool & Payload Check**: Incorrect configuration may cause instability or drift.  
- **Force Control Caution**: Verify direction and gain when using compliance or force control.