get_safety_zone_list()
Features
Returns all current safe zone information.
Parameters
None
Return
Value | Data Types | Description |
|---|---|---|
ret | class.config_safety_zone_list | All safe zone information (up to 20) |
Class
class.config_safety_zone_list | ||
Field | Data Types | Description |
|---|---|---|
obj | list | Object information for that class |
id | int | Safe zone UUID |
Field | Data Types | Description |
obj | list | Object information for that class |
override | int | 0: no override 1: override global property |
min_range | float[6] | Minimum Range |
max_range | float[6] | Maximum Range |
Information
The safety_zone_property_data class is a class structured as a union union in C++ and returns a different class depending on the type.
class.safety_zone_property_data | |||
type | Field | Data Types | Description |
|---|---|---|---|
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 | ||
Field | Data Types | Description |
|---|---|---|
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 | ||
Field | Data Types | Description |
|---|---|---|
obj | list | Object information for that class |
override | int | 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 | ||
Field | Data Types | Description |
|---|---|---|
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 | ||
Field | Data Types | Description |
|---|---|---|
obj | list | Object information for that class |
override | int | 0: no override 1: override global property |
speed | float[6] | Speed information |
class.local_zone_property_tcp_force | ||
Field | Data Types | Description |
|---|---|---|
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 | ||
Field | Data Types | Description |
|---|---|---|
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 | ||
Field | Data Types | Description |
|---|---|---|
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 | ||
Field | Data Types | Description |
|---|---|---|
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 | ||
Field | Data Types | Description |
|---|---|---|
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 | ||
Field | Data Types | Description |
|---|---|---|
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 | ||
Field | Data Types | Description |
|---|---|---|
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 | ||
Field | Data Types | Description |
|---|---|---|
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 | ||
Field | Data Types | Description |
|---|---|---|
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 | ||
Field | Data Types | Description |
|---|---|---|
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 5 : Capsule |
shape_data | class.SAFETY_ZONE_SHAPE_DATA | Safe zone shape data |
margin | int | Margin Positive: expansion value Negative: contraction value |
valid_space | int | Valid space 0: Internal 1: outside |
Information
The safety_zone_shape_data class is a class structured as a union union in C++ and returns a different class depending on the type.
class.safety_zone_shape_data | |||
shape_type | Field | Data Types | Description |
|---|---|---|---|
obj | list | Object information for that class | |
0 | sphere | class.safety_zone_shape_sphere | Sphere shape DataSources |
1 | cylinder | class.safety_zone_shape_cylinder | Column shape Data |
2 | cuboid | class.safety_zone_shape_cuboid | Rectangle shape Data |
3 | obb | class.safety_zone_shape_tilted_cuboid | Tilted Rectangle shape Data |
4 | multiplane | class.safety_zone_shape_multi_plane | Multifaceted Column shape Data |
5 | capsule | class.safety_zone_shape_capsule | Capsule shape Data |
class.safety_zone_shape_sphere | ||
Field | Data Types | Description |
|---|---|---|
obj | list | Object information for that class |
center | class.point_3d | Centers information |
radius | float | Radius |
class.safety_zone_shape_cylinder | ||
Field | Data Types | Description |
|---|---|---|
obj | list | Object information for that class |
center | class.point_3d | Centers information |
radius | float | Radius |
zlolimit | float | Z Axis Lower Limit |
zuplimit | float | Z Axis Upper Limit |
class.safety_zone_shape_cuboid | ||
Field | Data Types | Description |
|---|---|---|
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 | ||
Field | Data Types | Description |
|---|---|---|
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 | ||
Field | Data Types | Description |
|---|---|---|
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.safety_zone_shape_capsule | ||
Field | Data Types | Description |
|---|---|---|
obj | list | Object information for that class |
center1 | class.point_3d | Center point1 |
center2 | class.point_3d | Center point2 |
radius | float | Radius |
Example
ret = get_cockpit()
print(ret.button) ## list of button stateRelated commands
- None