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For information on the latest version, please have a look at 1.33.5.

set_robot_control

This function lets the user set and change the current operation state of the robot controller.

Definition
DRFLEx.h within class CDRFLEx, public section

bool set_robot_control(ROBOT_CONTROL eControl) { return _set_robot_control(_rbtCtrl, eControl); };

Parameter

Parameter Name	Data Type	Default Value	Description
eControl	ROBOT_CONTROL		Control command to apply to the robot controller.

Return

Value	Type	Description
0	int	Error — failed to change the control state.
1	int	Success — successfully changed the control state.

Preconditions

The state in this table is the robot state last reported to this client. In any other state the function returns false without a message.

eControl	Accepted state
CONTROL_INIT_CONFIG	Only on a new CDRFLEx object, before the controller has reported its safety mode and before any call that changes the mode (for example `set_robot_mode`). See the Caution below.
CONTROL_ENABLE_OPERATION	Only while the safety mode is INITIALIZE.
CONTROL_SERVO_ON	In SAFE_OFF or SAFE_OFF2; in STANDBY it returns true and does nothing.
CONTROL_RESET_SAFE_STOP	Only in SAFE_STOP or SAFE_STOP2; in SAFE_STOP the call waits until the state changes.
CONTROL_RECOVERY_SAFE_STOP and CONTROL_RECOVERY_SAFE_OFF	In SAFE_STOP, SAFE_STOP2, SAFE_OFF or SAFE_OFF2.
CONTROL_RECOVERY_BACKDRIVE	Only in SAFE_STOP2 or SAFE_OFF2.
CONTROL_RESET_RECOVERY	Only in RECOVERY.

Caution

After a disconnect, the CDRFLEx object records the safety mode as AUTONOMOUS, so CONTROL_INIT_CONFIG returns false on a reconnected object. To use CONTROL_INIT_CONFIG after a disconnect, create a new CDRFLEx object.

Example

if (drfl.get_robot_state() == STATE_SAFE_OFF) {
    // Servo ON (reset from SAFE OFF)
    drfl.set_robot_control(CONTROL_RESET_SAFET_OFF);
}
else if (drfl.get_robot_state() == STATE_SAFE_OFF2) {
    // Enter recovery mode
    drfl.set_robot_control(CONTROL_RECOVERY_SAFE_OFF);
}

This example checks the robot’s safe-off state and sends a control command accordingly. It resets the servo power or performs recovery, enabling the robot to return to a controllable state.

Note

In Recovery mode, jog, multi_jog and the motion functions (movej, movel, movec, moveb, movejx, movesj, movesx, move_spiral, move_periodic, their amove variants, movesj_g and movesx_g) return false and print “this command cannot be used in recovery mode. please change to auto mode as robot mode”. To leave Recovery mode, call set_robot_control(CONTROL_RESET_RECOVERY), then set_robot_mode(ROBOT_MODE_MANUAL) or set_robot_mode(ROBOT_MODE_AUTONOMOUS). Until set_robot_mode is called, these functions keep returning false.