set_auto_servo_off (Manual Mode)

This section explains how to use set_auto_servo_off during Manual (Teach) operations. This function enables or disables the automatic servo-off feature, which turns off servo power automatically after a specified period of robot inactivity. It helps reduce energy consumption and prevent unwanted torque holding when idle.

Typical usage

• Enable auto servo-off during teaching sessions to automatically disable servo torque after a period of inactivity.

• Prevent unnecessary heat or wear on servo motors when the robot is stationary.

• Disable the feature temporarily when performing long-duration manual setups.

Note

• Servo power will automatically turn off if no motion commands or manual jogging occur during the timeout period.

Example: Enable automatic servo-off after 60 seconds of inactivity

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

int main() {
    CDRFLEx drfl;

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

    // 1) Enable auto servo-off (60 seconds timeout)
    if (drfl.set_auto_servo_off(true, 60.0f))
        std::printf("[Auto Servo-Off] Enabled (timeout: 60s)\n");
    else
        std::printf("[Auto Servo-Off] Failed to enable.\n");

    // 2) Wait for demonstration (simulate idle state)
    std::printf("Waiting... Servo will turn OFF automatically after 60 seconds of inactivity.\n");
    std::this_thread::sleep_for(std::chrono::seconds(65));

    // 3) Disable auto servo-off again
    drfl.set_auto_servo_off(false, 0);
    std::printf("[Auto Servo-Off] Disabled.\n");

    return 0;
}

Tips

• Always verify that servo power is restored manually before issuing new motion commands after an auto servo-off event.

• When using this feature during long teaching sessions, set a moderate timeout (30–90s) to balance safety and convenience.

• The feature only activates during idle states—active motions or held torques reset the timer.

• Combine with servo_off for manual shutdown and release_protective_stop for complete recovery sequences.

• For Auto mode operation, ensure the timeout is sufficiently long to avoid unwanted servo-off during program pauses.