.. _set_robot_mode:

set_robot_mode
------------------------------------------
This function sets the current operation mode of the robot controller.

**Definition** |br|
``DRFLEx.h`` within class `CDRFLEx`, public section

.. code-block:: cpp

    bool set_robot_mode(ROBOT_MODE eMode) { return _set_robot_mode(_rbtCtrl, eMode); };

**Parameter**

.. list-table::
   :widths: 20 20 20 40
   :header-rows: 1

   * - **Parameter Name**
     - **Data Type**
     - **Default Value**
     - **Description**
   * - eMode
     - :ref:`ROBOT_MODE <enum_robot_mode>`
     - - 
     - Target operation mode to be set.  

**Return**

.. list-table::
   :widths: 10 20 70
   :header-rows: 1

   * - **Value**
     - **Type**
     - **Description**
   * - 0
     - int
     - Error — failed to change the robot mode.
   * - 1
     - int
     - Success — successfully set the robot mode.

.. note::

   Returns false if the request was refused. A return of true does not confirm that the controller applied the request; get_robot_mode reports the request made by this CDRFLEx instance, so it does not confirm it either. A refusal is reported through TOnLogAlarmCB.

.. Caution::

   Do not change the mode while a jog, or a motion or program started by another client, is running. On a real robot the safety board refuses the change and set_robot_mode returns false.

   set_robot_mode stores the requested mode even when it returns false. get_robot_mode then returns the requested mode, and functions that require Auto or Manual mode accept calls although the controller did not change mode. If set_robot_mode returns false, do not use mode-gated functions until a later set_robot_mode call returns true.

**Example**

.. code-block:: cpp

   if (drfl.get_robot_mode() == ROBOT_MODE_MANUAL) {
       // Converts to Auto mode
       drfl.set_robot_mode(ROBOT_MODE_AUTONOMOUS);
   }

This example checks whether the robot is currently in **Manual mode**  
and switches it to **Auto mode** if necessary,  
allowing the controller to execute programmed motions sequentially.