get_safety_zone_list()

ret

class.config_safety_zone_list

 All safe zone information (up to 20)

class.config_safety_zone_list

obj

list

Object information for that class

id

int

Safe zone UUID

alias

string

safe area name

type

int

safe zone type. 0:space limit, 1:local zone

property

safety_zone_property_data 

safety zone property data

shape

safety_zone_shape

safety zone shape

class.safety_zone_property_data

obj

list

Object information for that class

0

space_limit_zone

class.safety_zone_property_space_limit

space limit zone setup information

1

local_zone

class.safety_zone_property_local_zone

local zone setup information

class.safety_zone_property_space_limit

obj

list

Object information for that class

inspection_type

int

0: body

1: tcp

joint_range_override

class.local_zone_property_joint_range

override joint range

dynamic_zone_enable

int

Dynamic zone enable option

0 : not used

1~8 : safety input channel

inside_zone_detection

int

Inside zone detection option

0 : not used

1~8 : safety input channel

class.local_zone_property_joint_range

obj

list

Object information for that class

override

int[6]

0: no override

1: override global property

min_range

float[6]

Minimum Range

max_range

float[6]

Maximum Range

class.safety_zone_property_local_zone

obj

list

Object information for that class

joint_range_override

class.local_zone_property_joint_range

Override Joint Angle Limits

joint_speed_override

class.local_zone_property_joint_speed

Override Joint Velocity Limits

tcp_force_override

class.local_zone_property_tcp_force

Override TCP External Force Limits

tcp_power_override

class.local_zone_property_tcp_power

Override Power Limits

tcp_speed_override

class.local_zone_property_tcp_speed

Override TCP Velocity Limits

tcp_momentum_override

class.local_zone_property_tcp_momentum

Override Momentum Limits

collision_override

class.local_zone_property_collision

Override Collision Sensitivity

speed_rate

class.local_zone_property_speed_rate

Override Speed Deceleration Rate

collision_violation_stop_mode_override

class.local_zone_property_collision_stopmode

Override Collision Violation Stopping Mode

force_violation_stop_mode_override

class.local_zone_property_tcpslf_stopmode

Override External Force Violation Stopping Mode

tool_orientation_limit_override

class.local_zone_property_tool_orientation

Tool Orientation Limits

dynamic_zone_enable

int

Safety Input-Based Dynamic Activation

0 : not used

1~8 : safety input channel

led_override

int

LED Color Change Information

0 : Not Used

1 : Green

2 : Yellow

nudge_enable

int

Nudge activation information

0: disable

1: enable

allow_ress_safe_work

int

Allow less safe work

0: not allowed

1: allowed

override_reduce

int

Setting to ignore deceleration mode

0: Do not ignore

1: Ignore

inside_zone_detection

int

Whether to enable Designated Zone detection

0 : not used

1 ~ 8 : Safety IO output channel

9 ~ 24 : General IO output channels (each means General IO 1~16)

collaborative_zone

int

Enable or disable co-working space

0 : Not Used

1 : Used

class.local_zone_property_joint_speed

obj

list

Object information for that class

override

int[6]

0: no override

1: override global property

speed

float[6]

Speed information

class.local_zone_property_tcp_force

obj

list

Object information for that class

override

int

0: no override

1: override global property

force

float

Force information

class.local_zone_property_tcp_power

obj

list

Object information for that class

override

int

0: no override

1: override global property

power

float

Mechanical power information

class.local_zone_property_tcp_speed

obj

list

Object information for that class

override

int

0: no override

1: override global property

speed

float

TCP speed information

class.local_zone_property_tcp_momentum

obj

list

Object information for that class

override

int

0: no override

1: override global property

momentum

float

Momentum information

class.local_zone_property_collision

obj

list

Object information for that class

override

int

0: no override

1: override global property

sensitivity

float

Conflict sensitivity information

class.local_zone_property_speed_rate

obj

list

Object information for that class

override

int

0: no override

1: override global property

speed_rate

float

Deceleration Rate Information

class.local_zone_property_collision_stopmode

obj

list

Object information for that class

override

int

0: no override

1: override global property

stop_mode

int

0: STO

2: SS1

3: SS2

4: RS1

class.local_zone_property_tcpslf_stopmode

obj

list

Object information for that class

override

int

0: no override

1: override global property

stop_mode

int

Stop Mode Information for TCP SLF

0 : STO

2 : SS1

3 : SS2

4 : RS1

class.local_zone_property_tool_orientation

obj

list

Object information for that class

override

int

0: no override

1: override global property

direction

float[3]

Direction

angle

float

Angle

class.safety_zone_shape

obj

list

Object information for that class

coordinate

int

Coordinate

0 : base

2 : world

shape_type

int

Shape type

0 : Sphere

1 : Cylinder

2 : Cuboid

3 : Tilted Cuboid

4 : Multi-Plane

shape_data

class.SAFETY_ZONE_SHAPE_DATA

Safe zone shape data

margin

float

Margin

Min value: 0

Max value: 9999

valid_space

int

Valid space

0: Internal

1: outside

class.safety_zone_shape_data

obj

list

Object information for that class

0

sphere

class.safety_zone_shape_sphere

Sphere shape DataSources

1

cylinder

class.safety_zone_shape_cylinder

Cylinder shape Data

2

cuboid

class.safety_zone_shape_cuboid

Cuboid shape Data

3

obb

class.safety_zone_shape_tilted_cuboid

Tilted Cuboid shape Data

4

multiplane

class.safety_zone_shape_multi_plane

Multifaceted Column shape Data

class.safety_zone_shape_sphere

obj

list

Object information for that class

center

class.point_3d

Centers information

radius

float

Radius

class.safety_zone_shape_cylinder

obj

list

Object information for that class

center

class.point_2d

Centers information

radius

float

Radius

zlolimit

float

Z Axis Lower Limit

zuplimit

float

Z Axis Upper Limit

class.safety_zone_shape_cuboid

obj

list

Object information for that class

xlolimit

float

x Axis Lower Limit

xuplimit

float

x Axis Upper Limit

ylolimit

float

y Axis Lower Limit

yuplimit

float

y Axis Upper Limit

zlolimit

float

z Axis Lower Limit

zuplimit

float

z Axis Upper Limit

class.safety_zone_shape_tilted_cuboid

obj

list

Object information for that class

origin

class.point_3d

Centers information

u

class.point_3d

u vector

v

class.point_3d

v vector

w

class.point_3d

w vector

class.safety_zone_shape_multi_plane

obj

list

Object information for that class

valid_plane

int[6]

Valid plane information

plane

class.line[6]

Plane information

zlolimit

float

z Axis Lower Limit

zuplimit

float

z Axis Upper Limit

space_point

class.point_2d

Selection Space

class.point_3d

obj

list

Object information for this class

x

float

x-axis

y

float

y-axis

z

float

z-axis

class.line

obj

list

Object information for this class

from_point

class.point_2d

Start point of the Plane

to_point

class.point_2d

End point of the Plane

class.point_2d

obj

list

Object information for this class

x

float

x-axis

y

float

y-axis