This method, like teach_mode() and freedrive_mode(), changes the robot mode to teach mode, but this function does not check for an incorrect payload during the initial state change, nor if the payload is updated during freedrive. For this reason, it is exceedingly important for users to be certain the payload is correct.

It is possible for the user to exit teach mode/freedrive in the usual manner, using: end_teach_mode() or end_freedrive_mode()