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

release_protective_stop

This function releases the protective stop state in the robot controller. When a protective stop is triggered due to a collision, external safety device, or system fault, this function clears the stop condition and allows the robot to resume operation.

Definition
DRFLEx.h within class CDRFLEx, public section (line 910)

bool release_protective_stop(RELEASE_MODE eReleaseMode)
{
    return _release_protective_stop(_rbtCtrl, eReleaseMode);
};

Parameter

Parameter Name	Data Type	Default Value	Description
eReleaseMode	RELEASE_MODE		Mode for releasing protective stop

Return

Value	Description
0	Error — failed to release protective stop
1	Success — protective stop released successfully

Example

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

int main() {
    CDRFLEx Drfl;

    // Enable auto safety move stop for protection
    Drfl.set_auto_safety_move_stop(true);

    // Simulate a motion task that might trigger a protective stop
    float target[6] = {500, 200, 400, 180, 0, 180};
    float vel[2] = {60, 60};
    float acc[2] = {60, 60};
    // Drfl.movej(target, vel, acc);

    // Assume a collision or external force triggered a protective stop
    std::this_thread::sleep_for(std::chrono::seconds(3));
    std::cout << "Protective stop triggered due to collision!" << std::endl;

    // Release the protective stop condition
    Drfl.release_protective_stop(RELEASE_MODE_RELEASE);
    std::cout << "Protective stop released. Resuming operation..." << std::endl;

    // Re-enable servo to resume normal operation
    // Drfl.servo_on(true);

    return 0;
}

This example demonstrates how to recover from a protective stop event triggered by an external collision or safety system. After calling release_protective_stop(RELEASE_MODE_RELEASE), the robot can safely resume motion by re-enabling the servo.