.. _manual_get_safety_configuration_v2:

get_safety_configuration (DRCF v2, Manual Mode)
----------------------------------------------------------
This section explains how to use :ref:`get_safety_configuration <get_safety_configuration_v2>` during **Manual (Teach)** operations  
to retrieve the **robot controller’s active safety configuration parameters** when using **DRCF_VERSION == 2**.  
This function allows users to verify and log current safety settings such as safety zones, emergency stop behavior, and protective limits.

**Typical usage**

- Review and record the **current safety configuration** before performing manual operations.  
- Confirm proper configuration of **safety-rated speed, stop types, or IO-linked safety signals**.  
- Diagnose unexpected protective stops or configuration mismatches.

**Example: Retrieve and print safety configuration**

.. code-block:: cpp

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

   // 1) Retrieve safety configuration (DRCF v2)
   LPSAFETY_CONFIGURATION_EX2 pSafetyCfg = drfl.get_safety_configuration();
   if (!pSafetyCfg) {
       printf("[Safety Config] Failed to retrieve configuration.\n");
       return -1;
   }

   // 2) Print basic safety info
   printf("[Safety Config v2]\n");
   printf("Collision Sensitivity : %.1f\n", pSafetyCfg->_fCollisionSensitivity);
   printf("Active TCP            : %s\n", pSafetyCfg->_szActiveTcp);
   printf("Active Tool           : %s\n", pSafetyCfg->_szActiveTool);

**Tips**

- Use this function to **log safety configurations** during system audits or teaching verification.  
- Always confirm consistency between configuration data and real controller settings.  
- Combine with :ref:`set_safety_mode <manual_set_safety_mode>` or :ref:`set_safe_stop_reset_type <manual_set_safe_stop_reset_type>` for complete safety control workflow.  
- For controllers running **DRCF v3**, refer to :ref:`get_safety_configuration (DRCF v3) <manual_get_safety_configuration_v3>` for updated structure fields.