struct.SAFETY_CONFIGURATION_EX2_V3
The current safety configuration information is provided in a structure with the following fields.
It is an interface for the integrated controller.
BYTE# | Field Name | DataType | Value | Remarks |
0 | _iDataVersion | unsigned int | - | data version |
4 | _tJointRange | struct.CONFIG_JOINT_RANGE | - | Joint space range |
232 | _tGeneralRange | struct.CONFIG_GENERAL_RANGE | - | Task space range |
280 | _fCollisionSensitivity | float | - | Collision sensitivity |
284 | _tSafetyFunc | union.CONFIG_SAFETY_FUNCTION | - | Safety Funtion |
318 | _tTool | struct.CONFIG_TOOL_SYMBOL | - | Tool name setting |
390 | _tTcp | struct.CONFIG_TCP_SYMBOL | - | TCP name setting |
446 | _tInstallPose | struct.CONFIG_INSTALL_POSE | - | Installation position setting |
454 | _tSafetyIO | struct.CONFIG_SAFETY_IO_OP | - | Safety I/O setting |
520 | _tSafetySpaceVF | struct.CONFIG_VIRTUAL_FENCE | - | Task space setting |
632 | _tSafetySpaceSZ | struct.CONFIG_SAFE_ZONE | - | Safety space setting |
689 | _tSafetySpaceESZ | struct.ENABLE_SAFE_ZONE | - | Activate safety space |
692 | _tSafetySpacePZ | struct.CONFIG_PROTECTED_ZONE | - | Protected space setting |
1722 | _tSafetySpaceCM | struct.CONFIG_COLLISION_MUTE_ZONE | - | Collision monitoring mute space setting |
3122 | _tSafetySpaceTO | struct.CONFIG_TOOL_ORIENTATION_LIMIT_ZONE | - | Tool orientation mute space setting |
4312 | _tSafetySpaceTS | struct.CONFIG_TOOL_SHAPE | - | Tool shape setting |
4827 | _tConfigNudge | struct.CONFIG_NUDGE | - | Nudge setting |
4836 | _tCockPit | struct.CONFIG_COCKPIT_EX | - | Cockpit setting |
4840 | _tIdleOff | struct.CONFIG_IDLE_OFF | - | Autonomous Servo Off setting |
4845 | _tConfigTCP | struct.CONFIG_TCP_LIST | - | TCP list setting |
7649 | _tConfigTool | struct.CONFIG_TOOL_LIST | - | Tool list setting |
11253 | _tConfigToolShape | struct.CONFIG_TOOL_SHAPE_LIST | - | Tool shape list setting |
38607 | _szActiveTcp | char[32] | - | Active TCP list |
38639 | _szActiveTool | char[32] | - | Active TCP tool list |
38671 | _szActiveToolShape | char[32] | - | Active TCP shape list |
38703 | _tModbusList | struct.MODBUS_DATA_LIST | - | Modbus list |
45805 | _tWorld2BaseRelation | struct.CONFIG_WORLD_COORDINATE | - | World coordination setting |
45830 | m_CwsSpeedRatio | float | - | Speed Cws |
45834 | Speed Io | float | - | Speed Io |
| 45838 | _iSafetyZoneCount | int | - | Zone array length |
| 45842 | _tSafetyZone | struct.CONFIG_SAFETY_ZONE | - | Safety Zone info |
| 53942 | _iUserCoordCount | int | - | Coord array length |
| 53946 | _tUserCoordinates | struct.CONFIG_USER_COORDINATE_EX2 | - | Coord info |
57946 | _tConfigurableIO | struct.CONFIG_CONFIGURABLE_IO_EX | - | IO setting |