.. _manual_set_safety_mode:

set_safety_mode (Manual Mode)
------------------------------------------
This section explains how to use :ref:`set_safety_mode <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**

.. code-block:: cpp

   // 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();

**Tips**

- Always verify that the selected safety mode complies with site safety requirements.  
- Check the applied safety configuration using :ref:`get_safety_configuration (DRCF v2) <manual_get_safety_configuration_v2>` or :ref:`get_safety_configuration (DRCF v3) <manual_get_safety_configuration_v3>`.
- Combine with :ref:`change_collision_sensitivity <manual_change_collision_sensitivity>`  
  and :ref:`release_protective_stop <manual_release_protective_stop>` for a complete manual safety management routine.