.. _set_robot_control:

set_robot_control
------------------------------------------
This function lets the user set and change the current operation state of the robot controller.

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

.. code-block:: cpp

    bool set_robot_control(ROBOT_CONTROL eControl) { return _set_robot_control(_rbtCtrl, eControl); };

**Parameter**

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

   * - **Parameter Name**
     - **Data Type**
     - **Default Value**
     - **Description**
   * - eControl
     - :ref:`ROBOT_CONTROL <enum_robot_control>`
     - - 
     - Control command to apply to the robot controller.  

**Return**

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

   * - **Value**
     - **Type**
     - **Description**
   * - 0
     - int
     - Error — failed to change the control state.
   * - 1
     - int
     - Success — successfully changed the control state.

**Preconditions**

The state in this table is the robot state last reported to this client. In any other state the function returns false without a message.

.. list-table::
   :widths: 35 65
   :header-rows: 1

   * - **eControl**
     - **Accepted state**
   * - CONTROL_INIT_CONFIG
     - Only on a new CDRFLEx object, before the controller has reported its safety mode and before any call that changes the mode (for example ``set_robot_mode``). See the Caution below.
   * - CONTROL_ENABLE_OPERATION
     - Only while the safety mode is INITIALIZE.
   * - CONTROL_SERVO_ON
     - In SAFE_OFF or SAFE_OFF2; in STANDBY it returns true and does nothing.
   * - CONTROL_RESET_SAFE_STOP
     - Only in SAFE_STOP or SAFE_STOP2; in SAFE_STOP the call waits until the state changes.
   * - CONTROL_RECOVERY_SAFE_STOP and CONTROL_RECOVERY_SAFE_OFF
     - In SAFE_STOP, SAFE_STOP2, SAFE_OFF or SAFE_OFF2.
   * - CONTROL_RECOVERY_BACKDRIVE
     - Only in SAFE_STOP2 or SAFE_OFF2.
   * - CONTROL_RESET_RECOVERY
     - Only in RECOVERY.

.. Caution::

   After a disconnect, the CDRFLEx object records the safety mode as AUTONOMOUS, so ``CONTROL_INIT_CONFIG`` returns false on a reconnected object. To use ``CONTROL_INIT_CONFIG`` after a disconnect, create a new CDRFLEx object.

**Example**

.. code-block:: cpp

   if (drfl.get_robot_state() == STATE_SAFE_OFF) {
       // Servo ON (reset from SAFE OFF)
       drfl.set_robot_control(CONTROL_RESET_SAFET_OFF);
   }
   else if (drfl.get_robot_state() == STATE_SAFE_OFF2) {
       // Enter recovery mode
       drfl.set_robot_control(CONTROL_RECOVERY_SAFE_OFF);
   }

This example checks the robot’s **safe-off state** and sends a control command accordingly.  
It resets the servo power or performs recovery, enabling the robot to return to a controllable state.

.. Note::

   In Recovery mode, jog, multi_jog and the motion functions (movej, movel, movec, moveb, movejx, movesj, movesx, move_spiral, move_periodic, their amove variants, movesj_g and movesx_g) return false and print "this command cannot be used in recovery mode. please change to auto mode as robot mode". To leave Recovery mode, call set_robot_control(CONTROL_RESET_RECOVERY), then set_robot_mode(ROBOT_MODE_MANUAL) or set_robot_mode(ROBOT_MODE_AUTONOMOUS). Until set_robot_mode is called, these functions keep returning false.