get_robot_speed_mode (Manual Mode)

This section explains how to use get_robot_speed_mode during Manual (Teach) operations. This function retrieves the robot’s current speed mode, which determines whether the controller is operating in normal or reduced-speed (safety) mode. It is primarily used during manual teaching to verify that the robot is running at a safe speed before motion execution.

Typical usage

• Check whether the robot is currently in Reduced Speed Mode before starting teaching motion.

• Verify that speed mode automatically switches when entering safety zones or restricted environments.

• Display or log the speed mode for operator awareness during manual control.

• Combine with set_robot_speed_mode to enforce safe operation limits.

Note

• The result is read-only and changes automatically depending on system and safety conditions.

• Always verify speed mode before executing motion in shared human–robot environments.

Example: Check current speed mode before manual movement

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

int main() {
    CDRFLEx drfl;

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

    SPEED_MODE spdMode = drfl.get_robot_speed_mode();

    if (spdMode == SPEED_MODE_REDUCED) {
        cout << "[Speed Mode] Reduced speed active. Safe for manual teaching.\n";
    }
    else if (spdMode == SPEED_MODE_NORMAL) {
        cout << "[Speed Mode] Normal operation speed.\n";
        cout << "Warning: Verify safety before continuing.\n";
    }
    else {
        cout << "[Speed Mode] Unknown speed mode detected.\n";
    }

    return 0;
}

Tips

• Always ensure Reduced Speed Mode is active when teaching in close proximity to the robot.

• Use set_robot_speed_mode in automatic procedures to switch safely between modes.

• Log mode transitions to validate safety compliance during manual sessions.

• Combine with get_robot_system to verify environment context (real or virtual).