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

change_collision_sensitivity

This function configures the collision sensitivity of the robot controller.
A higher sensitivity value makes the robot more responsive to small contact forces, while a lower value allows for greater tolerance before triggering a collision stop.

Definition
DRFLEx.h within class CDRFLEx, public section (line 915)

bool change_collision_sensitivity(float fSensitivity)
{
    return _change_collision_sensitivity(_rbtCtrl, fSensitivity);
};

Parameter

Parameter Name	Data Type	Default Value	Description
fSensitivity	float		Collision sensitivity level (range: 0~100) 0: Minimum sensitivity (less reactive) 100: Maximum sensitivity (most reactive)

Return

Value	Description
0	Error — failed to set collision sensitivity.
1	Success — sensitivity successfully applied.

Example

#include "DRFLEx.h"
#include <thread>
#include <chrono>
using namespace DRAFramework;

int main() {
    CDRFLEx Drfl;

    // Enable automatic motion stop for safety
    Drfl.set_auto_safety_move_stop(true);

    // Set collision sensitivity to 20 (range: 0~100)
    // A lower value increases sensitivity (e.g., for human-collaborative tasks)
    Drfl.change_collision_sensitivity(20.0f);

    // Example motion (pseudo-code)
    // The robot will stop automatically upon detecting an external force
    float target[6] = {500, 100, 300, 180, 0, 180};
    float v[2] = {60, 60};
    float a[2] = {60, 60};
    // Drfl.movej(target, v, a);

    // Wait to simulate motion duration
    std::this_thread::sleep_for(std::chrono::seconds(5));

    // Restore default sensitivity after task
    Drfl.change_collision_sensitivity(50.0f);

    return 0;
}

This example enables automatic safety motion stop and adjusts the collision sensitivity to 20, which makes the robot more responsive to external contact. After the motion is finished, the sensitivity is reset to a normal level (50) for standard operation.