set_safety_mode

This function sets the safety state in the robot controller. It is used to change the robot’s operating mode (e.g., Manual / Auto) or to trigger specific safety-related events defined by the controller.

The function allows fine-grained control over the robot’s motion authorization, useful when switching between teaching, manual, or automatic operation modes.

Definition
DRFLEx.h within class CDRFLEx, public section (line 913)

bool set_safety_mode(SAFETY_MODE eSafetyMode, SAFETY_MODE_EVENT eSafetyEvent) {
    return _set_safety_mode(_rbtCtrl, eSafetyMode, eSafetyEvent);
};

Parameter

Parameter Name	Data Type	Default Value	Description
eSafetyMode	SAFETY_MODE		Safety operation mode to set.
eSafetyEvent	SAFETY_MODE_EVENT		Safety event type associated with the mode change.

Return

Value	Description
0	Error — failed to change the safety mode
1	Success — safety mode successfully updated

Example

// Switch the robot into Manual Mode
// with a motion event trigger to allow controlled movement.
if (Drfl.set_safety_mode(SAFETY_MODE_MANUAL, SAFETY_MODE_EVENT_MOVE))
    printf("Safety mode successfully set to MANUAL.\n");
else
    printf("Failed to set safety mode.\n");

This example demonstrates how to switch the robot’s safety state to Manual Mode with a Move Event, allowing motion under manual supervision. Such configurations are commonly used during teaching or calibration phases, where operators interact with the robot under controlled safety limits.