For information on the latest version, please have a look at GL013301.
set_robot_speed_mode (Manual Mode)
This section explains how to use set_robot_speed_mode during Manual (Teach) operations. This function sets the robot’s speed mode — either Normal or Reduced — to control the maximum allowable velocity. It is mainly used during teaching to ensure safe motion speeds while the operator is near the robot.
Typical usage
Switch to Reduced Speed Mode (safety speed limit) during manual teaching or hand-guided operation.
Set Normal Speed Mode after teaching is complete for faster verification or playback.
Apply reduced speed dynamically when entering safety zones or performing fine position adjustments.
Combine with get_robot_speed_mode to confirm the active speed state.
Note
In Manual mode, Reduced Speed is automatically enforced when safety sensors are active.
Speed mode transitions may be restricted by system-level safety configuration.
Example: Switch between Reduced and Normal speed during teaching
#include "DRFLEx.h"
#include <iostream>
#include <thread>
#include <chrono>
using namespace std;
using namespace DRAFramework;
int main()
{
CDRFLEx drfl;
// Preconditions:
// - Connection established (open_connection)
// - Manual (Teach) mode active
cout << "[Speed] Setting Reduced Speed Mode for safe teaching...\n";
if (drfl.set_robot_speed_mode(SPEED_MODE_REDUCED))
cout << "[Speed] Reduced speed mode activated.\n";
else
cout << "[Speed] Failed to set reduced speed mode.\n";
// Simulate slow manual motion
float qTarget[6] = {0, -30, 90, 0, 90, 0};
drfl.movej(qTarget, 20, 20);
this_thread::sleep_for(chrono::seconds(2));
cout << "[Speed] Switching to Normal Speed Mode for playback test...\n";
drfl.set_robot_speed_mode(SPEED_MODE_NORMAL);
return 0;
}
Tips
Always use Reduced Speed Mode when an operator is within the robot’s collaborative workspace.
Combine with get_robot_system to ensure the robot is in real hardware mode before switching speed.
For automatic speed recovery logic, log transitions between modes to prevent unsafe accelerations.
Verify that external safety devices (light curtains, scanners) properly enforce reduced speed mode changes.