For information on the latest version, please have a look at GL013301.
get_safety_configuration_ex2 (Manual Mode)
This section explains how to use get_safety_configuration_ex_v2 during Manual (Teach) operations to retrieve the robot controller’s active safety configuration parameters when using DRCF_VERSION == 2. This function allows users to verify and log current safety settings such as safety zones, emergency stop behavior, and protective limits.
Typical usage
Review and record the current safety configuration before performing manual operations.
Confirm proper configuration of safety-rated speed, stop types, or IO-linked safety signals.
Diagnose unexpected protective stops or configuration mismatches.
Example: Retrieve and print safety configuration
#include "DRFLEx.h"
#include <cstdio>
using namespace DRAFramework;
int main() {
CDRFLEx drfl;
// Preconditions:
// - Connection established (open_connection)
// - Manual (Teach) mode active
// 1) Retrieve safety configuration (DRCF v2)
LPSAFETY_CONFIGURATION_EX2 pSafetyCfg = drfl.get_safety_configuration();
if (!pSafetyCfg) {
std::printf("[Safety Config] Failed to retrieve configuration.\n");
return -1;
}
// 2) Print basic safety info
std::printf("[Safety Config v2]\n");
std::printf("Active Safety Mode : %d\n", pSafetyCfg->_iSafetyMode);
std::printf("Protective Stop Reset Type : %d\n", pSafetyCfg->_iSafeStopResetType);
std::printf("Reduced Speed Mode : %d\n", pSafetyCfg->_iReducedModeActive);
return 0;
}
Tips
Use this function to log safety configurations during system audits or teaching verification.
Always confirm consistency between configuration data and real controller settings.
Combine with set_safety_mode or set_safe_stop_reset_type for complete safety control workflow.
For controllers running DRCF v3, refer to get_safety_configuration_ex2_v3 for updated structure fields.