.. _manual_release_protective_stop:

release_protective_stop (Manual Mode)
------------------------------------------
This section explains how to use :ref:`release_protective_stop <release_protective_stop>` during **Manual (Teach)** operations.  
This function releases the robot from a **protective stop state**, which occurs when a safety event or collision is detected.  
After the protective stop is cleared and verified, this command allows the robot to return to a normal operational state.

**Typical usage**

- Manually release the robot from a **protective or safety stop** condition after confirming it is safe to resume operation.  
- Reset safety-related errors (e.g., collision detection, protective zone violation) following inspection.  
- Resume motion or teaching once the stop condition has been cleared and acknowledged.

.. Note::

    - The robot must be in a **stopped and safe condition** before release can occur.  
    - A protective stop (``STATE_SAFE_STOP``) pauses control without cutting servo power, so no servo-on call is needed after the release. A stop that cut servo power (``STATE_SAFE_OFF``) is cleared with :ref:`set_robot_control <set_robot_control>` and ``CONTROL_SERVO_ON`` instead.

**Example: Release protective stop and resume manual operation**

.. code-block:: cpp

   // Preconditions:
   // - Connection established (open_connection)
   // - Manual (Teach) mode active
   // - Robot currently halted by a protective stop (collision, zone violation, etc.)

   // 1) Attempt to release protective stop
   if (drfl.release_protective_stop(RELEASE_MODE_RELEASE))
       printf("[Protective Stop] Released successfully.\n");
   else {
       printf("[Protective Stop] Release failed. Confirm safety conditions.\n");
       return -1;
   }

   // 2) Wait for the robot state to return to idle
   while (drfl.check_motion() != 0)
       std::this_thread::sleep_for(std::chrono::milliseconds(200));

   // 3) Resume manual jog or motion after verification
   float qTarget[6] = {0, -30, 90, 0, 90, 0};
   drfl.movej(qTarget, 50, 50);
   drfl.mwait();

   printf("[Protective Stop] Robot motion resumed.\n");

**Tips**

- Always perform **visual inspection** and confirm safe clearance before calling this function.  
- If the release fails repeatedly, check safety configuration via :ref:`get_safety_configuration (DRCF v2) <manual_get_safety_configuration_v2>` or :ref:`get_safety_configuration (DRCF v3) <manual_get_safety_configuration_v3>`.
- If the robot is in ``STATE_SAFE_OFF``, call :ref:`set_robot_control <set_robot_control>` with ``CONTROL_SERVO_ON`` before motion can resume.  
- Combine with :ref:`set_safety_mode <manual_set_safety_mode>` for complete recovery procedures after safety events.