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 |