You're reading the documentation for an older, but still supported version (GL013300).
For information on the latest version, please have a look at GL013301.

servo_off (Manual Mode)

This section explains how to use servo_off during Manual (Teach) operations. This function turns OFF the robot’s servo power, safely removing torque from all joints.

It is primarily used when stopping motion for inspection, teaching, or before manually moving the robot arm by hand.

Typical usage

  • Disable all motor torques before hand-guided teaching or manual alignment.

  • Safely stop motion during setup, calibration, or recovery.

  • Use as part of a safety or maintenance procedure to ensure the robot cannot move unexpectedly.

Note

  • After calling servo_off(), all robot joints become freely movable by hand.

  • Motion commands are disabled until servo power is re-enabled (e.g., by using the Teach Pendant or safety reset).

Example: Turn off servo power safely after motion

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

int main() {
    CDRFLEx drfl;

    // Preconditions:
    // - Connection established (open_connection)
    // - Manual (Teach) mode active
    // - Servo power currently ON

    // 1) Move robot to a reference position
    float qTarget[6] = {0, -30, 90, 0, 90, 0};
    drfl.movej(qTarget, 50, 50);
    drfl.mwait();

    // 2) Turn servo power OFF smoothly
    if (drfl.servo_off(STOP_TYPE_SLOW))
        std::printf("[Servo] Power OFF (SLOW stop)\n");
    else
        std::printf("[Servo] Failed to turn OFF\n");

    // 3) Wait briefly before manual intervention
    std::this_thread::sleep_for(std::chrono::seconds(2));

    // 4) At this point, the robot can be moved by hand for manual positioning or teaching
    return 0;
}

Tips

  • Use STOP_TYPE_SLOW whenever possible to prevent abrupt motion stops.

  • Always ensure the robot has fully stopped before performing manual alignment.

  • If servo power does not turn off, verify that no motion or protective stop is active using check_motion.

  • To restore normal operation, re-enable servo power from the Teach Pendant or controller interface after manual adjustments.

  • Combine with release_protective_stop and set_auto_servo_off for complete safety control workflows.