CDRFLEx.set_safe_stop_reset_type

Features

This is a function for defining a series of motions that are executed automatically after the state conversion using set_robot_control function when the information on the operation state of the robot controller is SAFE_STOP. When the robot operation mode is automatic, program replay can be defined and set, and when it is manual, the setting is ignored.

Parameter

Parameter Name	Data Type	Default Value	Description
eResetType	enum.SAFE_STOP_RESET_TYPE	SAFE_STOP_RESET_TYPE_DEFAULT	Refer to the Definition of Constant and Enumeration Type

Return

Value	Description
1	Error

Example

CPP

void OnMonitoringStateCB(const ROBOT_STATE eState)
{
switch((unsigned char)eState)
    { 
case eSTATE_SAFE_STOP:
  if (drfl.get_robot_mode(ROBOT_MODE_AUTONOMOUS) {
        // Replays the program after conversion of state if the current state is an automatic mode
drfl.set_safe_stop_reset_type(SAFE_STOP_PROGRAM_RESUME);   
drfl.set_robot_control(eCONTROL_RESET_SAFET_STOP);
}
else {
     // Converts to STATE_STANDBY if the current state is a manual mode
drfl.set_robot_control(eCONTROL_RESET_SAFET_STOP);
}
        break;
//...