You're reading the documentation for an older, but still supported version (1.33.4).
For information on the latest version, please have a look at 1.33.5.

release_protective_stop (Manual Mode)

This section explains how to use release_protective_stop during Manual (Teach) operations. This function releases the robot from a protective stop state, which occurs when a safety event or collision is detected. After the protective stop is cleared and verified, this command allows the robot to return to a normal operational state.

Typical usage

  • Manually release the robot from a protective or safety stop condition after confirming it is safe to resume operation.

  • Reset safety-related errors (e.g., collision detection, protective zone violation) following inspection.

  • Resume motion or teaching once the stop condition has been cleared and acknowledged.

Note

  • The robot must be in a stopped and safe condition before release can occur.

  • A protective stop (STATE_SAFE_STOP) pauses control without cutting servo power, so no servo-on call is needed after the release. A stop that cut servo power (STATE_SAFE_OFF) is cleared with set_robot_control and CONTROL_SERVO_ON instead.

Example: Release protective stop and resume manual operation

// Preconditions:
// - Connection established (open_connection)
// - Manual (Teach) mode active
// - Robot currently halted by a protective stop (collision, zone violation, etc.)

// 1) Attempt to release protective stop
if (drfl.release_protective_stop(RELEASE_MODE_RELEASE))
    printf("[Protective Stop] Released successfully.\n");
else {
    printf("[Protective Stop] Release failed. Confirm safety conditions.\n");
    return -1;
}

// 2) Wait for the robot state to return to idle
while (drfl.check_motion() != 0)
    std::this_thread::sleep_for(std::chrono::milliseconds(200));

// 3) Resume manual jog or motion after verification
float qTarget[6] = {0, -30, 90, 0, 90, 0};
drfl.movej(qTarget, 50, 50);
drfl.mwait();

printf("[Protective Stop] Robot motion resumed.\n");

Tips