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For information on the latest version, please have a look at GL013301.

get_robot_speed_mode

This is a function for checking the current velocity mode (normal mode, deceleration mode) in the robot controller along with the ToMonitoringSpeedModeCB callback function.

Definition
DRFLEx.h within class CDRFLEx, public section (line 708)

SPEED_MODE get_robot_speed_mode() { return _get_robot_speed_mode(_rbtCtrl); };

Parameter
None

Return

Value	Description
SPEED_MODE	Refer to the Definition of Enumeration Type

Example

if (drfl.get_robot_speed_mode() == SPEED_REDUCED_MODE) {
    // Changes the speed reduced mode to normal speed mode
    drfl.set_robot_speed_mode(SPEED_NORMAL_MODE);
}

This example checks the robot’s speed mode, and if it is in reduced mode, switches it to normal mode for standard motion speed.