set_robot_speed_mode (Manual Mode)

This section explains how to use set_robot_speed_mode during Manual (Teach) operations. This function sets the robot’s speed mode — either Normal or Reduced — to control the maximum allowable velocity. It is mainly used during teaching to ensure safe motion speeds while the operator is near the robot.

Typical usage

• Switch to Reduced Speed Mode (safety speed limit) during manual teaching or hand-guided operation.

• Set Normal Speed Mode after teaching is complete for faster verification or playback.

• Apply reduced speed dynamically when entering safety zones or performing fine position adjustments.

• Combine with get_robot_speed_mode to confirm the active speed state.

Note

• In Manual mode, Reduced Speed is automatically enforced when safety sensors are active.

• Speed mode transitions may be restricted by system-level safety configuration.

Example: Switch between Reduced and Normal speed during teaching

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

int main()
{
    CDRFLEx drfl;

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

    cout << "[Speed] Setting Reduced Speed Mode for safe teaching...\n";
    if (drfl.set_robot_speed_mode(SPEED_MODE_REDUCED))
        cout << "[Speed] Reduced speed mode activated.\n";
    else
        cout << "[Speed] Failed to set reduced speed mode.\n";

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

    cout << "[Speed] Switching to Normal Speed Mode for playback test...\n";
    drfl.set_robot_speed_mode(SPEED_MODE_NORMAL);

    return 0;
}

Tips

• Always use Reduced Speed Mode when an operator is within the robot’s collaborative workspace.

• Combine with get_robot_system to ensure the robot is in real hardware mode before switching speed.

• For automatic speed recovery logic, log transitions between modes to prevent unsafe accelerations.

• Verify that external safety devices (light curtains, scanners) properly enforce reduced speed mode changes.