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get_control_mode (Manual Mode)

This section explains how to use get_control_mode during Manual (Teach) operations. Although defined in 3.1 Common, this function is critical for verifying the current control mode of the robot before or during manual teaching.

Typical usage

  • Confirm whether the robot is under position or torque control.

  • Prevent accidental motion commands in the wrong control mode.

  • Used before jogging, force teaching, or switching between operation modes.

Note

  • The named modes are CONTROL_MODE_POSITION (3) and CONTROL_MODE_TORQUE (4). The controller can also report 0 (servo off), 1 (servo on) or 2 (hold), which have no CONTROL_MODE name, and the function returns 0 before the first monitoring data arrives.

  • In manual teaching, it should usually report CONTROL_MODE_POSITION.

Example: Checking Control Mode before Jogging

// Check current control mode before teaching
CONTROL_MODE ctrl = drfl.get_control_mode();
printf("Current Control Mode: %d\n", ctrl);

if (ctrl == CONTROL_MODE_POSITION) {
    printf("Safe to jog in position control.\n");
    drfl.jog(JOG_AXIS_TASK_X, MOVE_REFERENCE_BASE, 10.0f);
} else {
    printf("Jogging disabled: not in position control mode.\n");
}

Tips

  • Always check the control mode before enabling jog or external force teaching.

  • If the mode is not CONTROL_MODE_POSITION, switch modes through the pendant or API command.

  • Helps prevent unexpected motion when switching between auto and manual control.