CDRFLEx.get_robot_mode

Features

This is a function for checking information on the current operation mode of the robot controller. The automatic mode is a mode for automatically executing motions (programs) configured in sequential order, while manual mode is a mode for executing single motions like jog.

Parameter

None

Return

Value	Description
enum.ROBOT_MODE	Refer to the Definition of Constant and Enumeration Type

Example

C++

string strDrlProgram = "\r\n\
loop = 0\r\n\
while loop < 3:\r\n\
 movej(posj(10,10.10,10,10.10), vel=60, acc=60)\r\n\
 movej(posj(00,00.00,00,00.00), vel=60, acc=60)\r\n\
 loop+=1\r\n\
movej(posj(10,10.10,10,10.10), vel=60, acc=60)\r\n";

if (drfl.get_robot_state() == eSTATE_STANDBY) {

if (drfl.get_robot_mode() == ROBOT_MODE_MANUAL) {
    // Manual Mode
       drfl.jog(JOG_AXIS_JOINT_3, MOVE_REFERENCE_BASE, 60.f);
       sleep(2);
 drfl.jog(JOG_AXIS_JOINT_3, MOVE_REFERENCE_BASE, 0.f);
  }
else {
   // Automatic Mode
ROBOT_SYSTEM eTargetSystem = ROBOT_SYSTEM_VIRTUAL;
      drfl.drl_start(eTargetSystem, strDrlProgram)
  }
}