For information on the latest version, please have a look at GL013301.
change_collision_sensitivity (Manual Mode)
This section explains how to use change_collision_sensitivity during Manual (Teach) operations. Although defined in 3.1 Common, it is frequently used during teaching to temporarily adjust the robot’s collision detection sensitivity for safer or more flexible manual manipulation.
Typical usage
Reduce collision sensitivity when performing tight-space teaching or contact-based tool alignment.
Increase sensitivity to quickly detect unexpected impacts or resistance.
Restore default sensitivity after manual teaching to maintain standard safety thresholds.
Note
Adjustment takes effect immediately and applies globally to all joints.
Always reset sensitivity to the default after completing manual operations.
Example: Temporarily reduce collision sensitivity during teaching
#include "DRFLEx.h"
#include <thread>
#include <chrono>
#include <cstdio>
using namespace DRAFramework;
int main() {
CDRFLEx drfl;
// Preconditions:
// - Connection established (open_connection)
// - Manual (Teach) mode active
// - Servo power ON and motion enabled
// 1) Lower collision sensitivity to allow contact alignment
if (drfl.change_collision_sensitivity(5.0f))
std::printf("[Collision Sensitivity] Temporarily set to 5.0\n");
else
std::printf("[Collision Sensitivity] Failed to adjust\n");
// 2) Perform short manual motion
drfl.jog(JOG_AXIS_JOINT_2, MOVE_REFERENCE_JOINT, 10.0f);
std::this_thread::sleep_for(std::chrono::milliseconds(800));
drfl.stop(STOP_TYPE_SLOW);
// 3) Restore default sensitivity
drfl.change_collision_sensitivity(10.0f);
std::printf("[Collision Sensitivity] Restored to default (10.0)\n");
return 0;
}
Tips
Recommended to lower sensitivity only temporarily for contact-based tasks.
After teaching, restore to default (10.0) to comply with safety standards.
Combine with servo_off and set_safety_mode for a complete safety routine.
For repetitive tasks, consider logging the current setting before modification and restoring afterward.