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.