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

set_safety_mode (Manual Mode)

This section explains how to use set_safety_mode during Manual (Teach) operations. This function sets the robot’s safety operating mode and determines how the robot behaves under specific safety conditions. It requests a safety mode (SAFETY_MODE) together with a safety-mode event (SAFETY_MODE_EVENT_ENTER, SAFETY_MODE_EVENT_MOVE or SAFETY_MODE_EVENT_STOP).

Typical usage

  • Change the robot’s operating safety mode during manual setup or collaborative teaching.

  • Configure the robot’s response to safety triggers such as protective stops or external sensors.

Note

  • The configured mode persists until modified or overridden by a new safety event.

Example: Enter manual safety mode for teaching

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

// 1) Enter manual safety mode for teaching
if (drfl.set_safety_mode(SAFETY_MODE_MANUAL, SAFETY_MODE_EVENT_ENTER))
    printf("[Safety Mode] Manual safety mode entered for teaching.\n");
else {
    printf("[Safety Mode] Failed to enter manual safety mode.\n");
    return -1;
}

// 2) Perform safe manual motion
float qTarget[6] = {0, -30, 90, 0, 90, 0};
drfl.movej(qTarget, 30, 20);
drfl.mwait();

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