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For information on the latest version, please have a look at GL013301.

set_safety_mode (Manual Mode)

This section explains how to use set_safety_mode during Manual (Teach) operations. This function sets the robot’s safety operating mode and determines how the robot behaves under specific safety conditions. It allows switching between Normal, Reduced, or Collaborative operation modes depending on safety events and system configuration.

Typical usage

  • Change the robot’s operating safety mode during manual setup or collaborative teaching.

  • Apply Reduced Speed Mode or Collaborative Mode when working near humans.

  • Configure the robot’s response to safety triggers such as protective stops or external sensors.

Note

  • The configured mode persists until modified or overridden by a new safety event.

Example: Apply reduced speed mode for manual teaching

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

int main() {
    CDRFLEx drfl;

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

    // 1) Set the robot to reduced speed mode triggered by manual teach event
    if (drfl.set_safety_mode(SAFETY_MODE_REDUCED, SAFETY_EVENT_RECOVERY))
        std::printf("[Safety Mode] Reduced speed mode activated for teaching.\n");
    else {
        std::printf("[Safety Mode] Failed to apply reduced speed mode.\n");
        return -1;
    }

    // 2) Perform safe manual motion
    float qTarget[6] = {0, -30, 90, 0, 90, 0};
    drfl.movej(qTarget, 30, 20);
    drfl.mwait();

    // 3) Restore normal safety mode after teaching
    drfl.set_safety_mode(SAFETY_MODE_NORMAL, SAFETY_EVENT_RECOVERY);
    std::printf("[Safety Mode] Restored to normal mode.\n");

    return 0;
}

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