set_auto_safety_move_stop (Manual Mode)

This section explains how to use set_auto_safety_move_stop during Manual (Teach) operations. This function enables or disables the controller’s automatic safety stop behavior when a safety signal or risk condition is detected.

In Manual mode, it is primarily used to test or temporarily override safety stop behavior for diagnostic or calibration purposes.

Typical usage

• Enable automatic stopping when a safety sensor (e.g., door, scanner) or collision event is triggered.

• Temporarily disable auto-stop during maintenance or controlled testing (under strict supervision).

• Use for verifying safety input signals or evaluating recovery logic after protective stops.

• Combine with set_safe_stop_reset_type to customize recovery policy.

Note

• When disabled, the controller will not automatically halt upon safety input — use only under safe, supervised conditions.

• Recommended to re-enable auto stop after diagnostic tasks.

Example: Enable automatic safety stop during manual teaching

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

int main()
{
    CDRFLEx drfl;

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

    cout << "[Safety] Enabling automatic safety stop...\n";
    if (drfl.set_auto_safety_move_stop(true))
        cout << "[Safety] Auto safety stop enabled successfully.\n";
    else
        cout << "[Safety] Failed to enable safety stop.\n";

    // Simulate operation and test response
    float qTarget[6] = {0, -30, 90, 0, 90, 0};
    drfl.movej(qTarget, 20, 20);
    this_thread::sleep_for(chrono::seconds(2));

    cout << "[Safety] Temporarily disabling safety stop for controlled test...\n";
    drfl.set_auto_safety_move_stop(false);
    this_thread::sleep_for(chrono::seconds(2));

    cout << "[Safety] Re-enabling safety stop after test.\n";
    drfl.set_auto_safety_move_stop(true);

    return 0;
}

Tips

• Always re-enable automatic safety stop after calibration or test procedures.

• Disabling this feature should only be done under supervised and low-speed conditions.

• Combine with get_last_alarm to verify safety stop events and causes.

• Useful for validating safety I/O and system integration during teach and setup phases.