get_safety_configuration_ex2_v3 (Manual Mode)

This section explains how to use get_safety_configuration_ex2_v3 during Manual (Teach) operations to retrieve the extended safety configuration of the robot controller when using DRCF_VERSION == 3. Compared to the v2 structure, this version provides additional safety fields such as user-defined safety zones, enhanced IO mapping, and collaborative operation parameters.

Typical usage

• Inspect and log comprehensive safety parameters including newly added safety attributes in DRCF v3.

• Verify updated configuration of safe torque off, protective limits, and emergency stop hierarchy.

• Confirm system-level integration with external safety devices under the new configuration model.

Note

• The data is read-only and reflects the currently active configuration applied by the controller.

Example: Retrieve and display extended safety configuration (DRCF v3)

#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 v3)
    LPSAFETY_CONFIGURATION_EX2_V3 pSafetyCfgV3 = drfl.get_safety_configuration();
    if (!pSafetyCfgV3) {
        std::printf("[Safety Config v3] Failed to retrieve configuration.\n");
        return -1;
    }

    // 2) Display key configuration fields
    std::printf("[Safety Config v3]\n");
    std::printf("Active Safety Mode        : %d\n", pSafetyCfgV3->_iSafetyMode);
    std::printf("Protective Stop Reset Type: %d\n", pSafetyCfgV3->_iSafeStopResetType);
    std::printf("Reduced Speed Mode Active : %d\n", pSafetyCfgV3->_iReducedModeActive);
    std::printf("Number of Safety Zones    : %d\n", pSafetyCfgV3->_iNumSafetyZones);

    return 0;
}

Tips

• get_safety_configuration_ex2_v3() provides richer diagnostic data for advanced safety environments.

• Ideal for validation, commissioning, or system integration with third-party safety controllers.

• Recommended to log retrieved configurations before modifying safety parameters with set_safety_mode or related functions.