For information on the latest version, please have a look at GL013301.
servo_off
This function turns off the motor and brake power of the robot (i.e., robot power off). It is typically used to safely stop the robot by cutting servo power, either through a quick stop or a normal stop, depending on the specified stop type.
This command is essential in both emergency and controlled shutdown situations to ensure mechanical safety and prevent undesired motion after program termination.
Definition
DRFLEx.h within class CDRFLEx, public section (line 909)
int servo_off(STOP_TYPE eStopType) {
return _servo_off(_rbtCtrl, eStopType);
};
Parameter
Parameter Name |
Data Type |
Default Value |
Description |
|---|---|---|---|
eStopType |
Refer to the Definition of Enumeration Type |
Return
Value |
Description |
|---|---|
0 |
Error — failed to power off the servo |
1 |
Success — servo power successfully turned off |
Example
#include "DRFLEx.h"
#include <iostream>
using namespace DRAFramework;
int main() {
CDRFLEx Drfl;
// Perform a quick servo-off for immediate motion stop
if (Drfl.servo_off(STOP_TYPE_QUICK))
std::cout << "Servo power OFF (quick stop)\n";
else
std::cerr << "Failed to execute quick stop.\n";
// Optional: perform slow servo-off for smooth deceleration
Drfl.servo_off(STOP_TYPE_SLOW);
return 0;
}
This example demonstrates two different servo-off scenarios: (1) an emergency quick stop that immediately halts robot motion, and (2) a controlled slow stop that gradually decelerates the robot before cutting power. Both modes ensure safe power shutdown based on the robot’s current operation state.