.. _safety_local_rules:

2.3.12 Safety Local Rules & Zones
==========================================

.. toctree::
   :maxdepth: 2

   local_zone_property_joint_range
   local_zone_property_joint_speed
   local_zone_property_tcp_force
   local_zone_property_tcp_power
   local_zone_property_tcp_speed
   local_zone_property_tcp_momentum
   local_zone_property_collision
   local_zone_property_speed_rate
   local_zone_property_speed_reduction
   local_zone_property_collision_stopmode
   local_zone_property_tcpslf_stopmode
   local_zone_property_tool_orientation
   virtual_fence_object
   config_virtual_fence
   virtual_fence_response
   safety_zone_shape_sphere
   safety_zone_shape_cylinder
   safety_zone_shape_cuboid
   safety_zone_shape_tilted_cuboid
   safety_zone_shape_multi_plane
   safety_zone_shape_capsule 
   safety_zone_shape_data
   safety_zone_shape
   safety_zone_property_space_limit
   safety_zone_property_local_zone 
   safety_zone_property_data
   config_protected_zone
   config_collision_mute_zone
   config_collision_mute_zone_property
   safety_tool_orientation_limit  
   config_tool_orientation_limit_zone
   enable_safe_zone
   config_add_safety_zone
   config_delete_safety_zone