set_on_program_stopped (Manual Mode)

This section explains how to use set_on_program_stopped during Manual (Teach) operations.
This function registers a callback function that is triggered whenever a program running on the controller is stopped, either manually from the Teach Pendant (TP), through an API command, or due to an error condition.

It is particularly useful for restoring the teaching environment, resetting motion states, or logging the reason for program interruption.

Typical usage

• Detect and handle program termination events during manual teaching.

• Automatically log the stop cause for debugging or traceability.

• Reset system indicators (e.g., LED or popup) when the program halts.

• Prepare the controller for a safe restart or next teaching sequence.

Note

• Keep callback logic simple to avoid blocking subsequent recovery actions.

Example: Log and respond to program stop events

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

CDRFLEx drfl;

// Callback triggered when DRL or manual program stops
void OnProgramStopped(int cause)
{
    cout << "-------------------------------------------\n";
    cout << "[PROGRAM STOPPED]\n";
    cout << "Stop cause: " << cause << endl;

    // LED feedback depending on cause
    if (cause == 0)
        drfl.set_state_led_color(0, 255, 0);   // Green: Normal stop
    else if (cause == 1)
        drfl.set_state_led_color(255, 0, 0);   // Red: Emergency stop
    else
        drfl.set_state_led_color(255, 200, 0); // Yellow: User interruption

    cout << "LED color updated according to stop cause.\n";
    cout << "-------------------------------------------\n";
}

int main()
{
    drfl.open_connection("192.168.137.100");
    drfl.set_on_program_stopped(OnProgramStopped);
    cout << "[Teach] Program stop monitoring active.\n";

    // Keep running to receive program stop events
    while (true)
        this_thread::sleep_for(chrono::seconds(1));

    return 0;
}

When registered, this callback executes automatically when a DRL program or manual operation stops on the controller. It helps implement automatic post-stop handling, such as LED color changes, system recovery preparation, or custom safety notifications.

Tips

• Use to detect and classify stop causes in real time.

• Combine with set_state_led_color for visual stop indication.

• Ideal for automatic recovery, logging, or post-teaching cleanup routines.