Features
Returns the TCP/Robot limit value of the current safety settings parameter.
Parameters
None
Return
|
Value |
Data Types |
Description |
|---|---|---|
|
ret |
class.config_general_range |
About setting TCP/robot restrictions |
Class
class.config_general_range
|
||
|
Field |
Data Types |
Description |
|---|---|---|
|
obj |
list |
Object information for that class |
|
normal |
class.general_range |
TCP/Robot restrictions in normal mode |
|
reduced |
class.general_range |
TCP/Robot Restrictions in Slow Mode |
class.general_range
|
||
|
Field |
Data Types |
Description |
|---|---|---|
|
obj |
list |
Object information for that class |
|
max_force |
float |
Maximum external force limit |
|
max_power |
float |
Maximum power limit |
|
max_speed |
float |
Maximum TCP Rate Limit |
|
max_momentum |
float |
Maximum momentum limit |
Example
Python
def print_tp(s):
tp_log(str(s))
ret = get_general_range()
### normal mode
print_tp(ret.normal.max_force)
print_tp(ret.normal.max_power)
print_tp(ret.normal.max_speed)
print_tp(ret.normal.max_momentum)
### reduced mode
print_tp(ret.reduced.max_force)
print_tp(ret.reduced.max_power)
print_tp(ret.reduced.max_speed)
print_tp(ret.reduced.max_momentum)