set_on_monitoring_safety_state (Manual Mode)

This section explains how to use set_on_monitoring_safety_state during Manual (Teach) operations. This function registers a callback that is triggered whenever the robot’s safety state changes — such as entering or leaving a protective stop, switching between safety modes, or detecting a safety-related fault.

Typical usage

• Monitor real-time safety state transitions during manual teaching.

• Log or display safety status changes (e.g., Protective Stop, Reduced Mode, Safety Error).

• Trigger user-defined recovery or alert routines in response to safety events.

Note

• The callback executes automatically whenever the controller’s safety state updates.

• The monitoring continues until explicitly replaced or the connection is closed.

• The callback should be lightweight — avoid blocking operations or long computations inside it.

Example: Register a safety state monitoring callback

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

// 1) Define the callback function
void OnSafetyStateChanged(const LPROBOT_MONITORING_SAFETY_STATE pSafety) {
    std::printf("[Safety State Changed]\n");
    std::printf(" Mode: %d | Protective Stop: %d | Reduced Mode: %d | Error: %d\n",
                pSafety->_iSafetyMode,
                pSafety->_bProtectiveStop,
                pSafety->_bReducedModeActive,
                pSafety->_bSafetyError);
}

int main() {
    CDRFLEx drfl;

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

    // 2) Register safety monitoring callback
    drfl.set_on_monitoring_safety_state(OnSafetyStateChanged);
    std::printf("[Safety Monitor] Safety state callback registered.\n");

    // 3) Keep program running to receive events
    while (true) {
        std::this_thread::sleep_for(std::chrono::seconds(1));
    }

    return 0;
}

Tips

• Use this callback to detect transitions such as:
  

  • Entering Protective Stop or Emergency Stop

  • Switching between Normal and Reduced Speed modes

  • Occurrence or clearance of Safety Faults

• For comprehensive status diagnostics, combine this with:
  

  • get_safety_configuration_ex or

    get_safety_configuration_ex_v3 to inspect configuration details

  • release_protective_stop for controlled recovery

• Avoid heavy logic in the callback — delegate extended processing to a separate thread or event handler.

• The callback remains valid until manually re-registered or the session is terminated.