union.CONFIG_SAFETY_FUNCTION
This is a structure information to set the safety function, and consists of the following fields.
BYTE# | Field Name | Data Type | Value | Remarks |
0 | Stop code | tStopCode[17] | - | Refer to the Definition of Below Struct |
34 | Stop function | unsigned char[17] | - | SF05. Emergency Stop SF06. Proctective Stop SF07. StadnStill Monitoring SF08. Joint Angle Monitoring SF09. Joint Speed Monitoring SF10. Joint Torque Monitoring SF11. Collisoin Detection SF12. TCP Posiiont Monitoring SF13. TCP Orientation Monitoring SF14. TCP Speed Monitoring SF15. TCP Force Monitoring SF16. Momentum Monitoring SF17. Power Mon. |