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.

set_on_monitoring_safety_state (Manual Mode)

This section explains how to use set_on_monitoring_safety_state during Manual (Teach) operations. This function registers a callback that is triggered each time the controller reports the robot’s safety state. The callback receives one SAFETY_STATE value, such as a violation-detected stop (SAFETY_STATE_VD_STO), jog and homing (SAFETY_STATE_JH_MOVE), or collaborative workspace operation (SAFETY_STATE_CW_RUN).

Typical usage

• Monitor real-time safety state transitions during manual teaching.

• Log or display safety state changes (e.g., SAFETY_STATE_VD_STO, SAFETY_STATE_CW_RUN).

• Trigger user-defined recovery or alert routines in response to safety events.

Note

• The callback executes automatically whenever the controller’s safety state updates.

• The monitoring continues until explicitly replaced or the connection is closed.

• See Rules for callback functions.

Example: Register a safety state monitoring callback

// 1) Define the callback function
void OnSafetyStateChanged(const SAFETY_STATE eState) {
    printf("[Safety State Changed]\n");
    printf(" Safety state: %d\n", (int)eState);
}

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

// 2) Register safety monitoring callback
drfl.set_on_monitoring_safety_state(OnSafetyStateChanged);
printf("[Safety Monitor] Safety state callback registered.\n");

// 3) Keep program running to receive events
while (true) {
    std::this_thread::sleep_for(std::chrono::seconds(1));
}

Tips

• The callback receives one SAFETY_STATE value, for example SAFETY_STATE_VD_STO (violation detected, STO), SAFETY_STATE_JH_MOVE (jog and homing move) or SAFETY_STATE_CW_RUN (collaborative workspace run). Compare it with the previous value to detect transitions.

• For comprehensive status diagnostics, combine this with:
  

  • get_safety_configuration (DRCF v2) or get_safety_configuration (DRCF v3) to inspect configuration details

  • release_protective_stop for controlled recovery

• The callback remains valid until manually re-registered or the session is terminated.