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SAFETY_FUNC

It is an enumerated constant that defines the safety functions of the robot controller, such as stop modes, error detections, and safety signals, and is defined as follows.

Rank	Constant Name	Description
0	SAFETY_FUNC_FIRST	Start index of safety function enumeration
1	SAFETY_FUNC_STOP_STO_NOT_USE	STO (Safe Torque Off) not used
2	SAFETY_FUNC_STOP_SBC_NOT_USE	SBC (Safe Brake Control) not used
3	SAFETY_FUNC_STOP_SS1_NOT_USE	SS1 (Safe Stop 1) not used
4	SAFETY_FUNC_STOP_SS2_NOT_USE	SS2 (Safe Stop 2) not used
5	SAFETY_FUNC_SIGNAL_EMG	Emergency stop signal
6	SAFETY_FUNC_SIGNAL_PRS	Protective stop signal
7	SAFETY_FUNC_ERROR_SOS	SOS (Safe Operating Stop) error
8	SAFETY_FUNC_ERROR_JOINT_SLP	Joint position limit error
9	SAFETY_FUNC_ERROR_JOINT_SLS	Joint speed limit error
10	SAFETY_FUNC_ERROR_JOINT_SLT	Joint torque limit error
11	SAFETY_FUNC_ERROR_COLLISION	Collision detection error
12	SAFETY_FUNC_ERROR_TCP_SLP	TCP position limit error
13	SAFETY_FUNC_ERROR_TCP_SLO	TCP orientation limit error
14	SAFETY_FUNC_ERROR_TCP_SLS	TCP speed limit error
15	SAFETY_FUNC_ERROR_TCP_SLF	TCP force limit error
16	SAFETY_FUNC_ERROR_MOMENTUM	TCP momentum limit error
17	SAFETY_FUNC_ERROR_POWER	Power limit error
18	SAFETY_FUNC_LAST	Reserved for the last safety function index
19	SAFETY_FUNC_ENABLE_SWITCH_RELEASE	Enable switch release function (same as SAFETY_FUNC_LAST)

Defined in: DRFC.h

typedef enum {
    SAFETY_FUNC_FIRST,
    SAFETY_FUNC_STOP_STO_NOT_USE = SAFETY_FUNC_FIRST,
    SAFETY_FUNC_STOP_SBC_NOT_USE,
    SAFETY_FUNC_STOP_SS1_NOT_USE,
    SAFETY_FUNC_STOP_SS2_NOT_USE,
    SAFETY_FUNC_SIGNAL_EMG,
    SAFETY_FUNC_SIGNAL_PRS,
    SAFETY_FUNC_ERROR_SOS,
    SAFETY_FUNC_ERROR_JOINT_SLP, /* joint position */
    SAFETY_FUNC_ERROR_JOINT_SLS, /* joint speed */
    SAFETY_FUNC_ERROR_JOINT_SLT, /* joint torque */
    SAFETY_FUNC_ERROR_COLLISION,
    SAFETY_FUNC_ERROR_TCP_SLP,  /* tcp position */
    SAFETY_FUNC_ERROR_TCP_SLO,  /* tcp orientation */
    SAFETY_FUNC_ERROR_TCP_SLS,  /* tcp speed */
    SAFETY_FUNC_ERROR_TCP_SLF,  /* tcp force */
    SAFETY_FUNC_ERROR_MOMENTUM,
    SAFETY_FUNC_ERROR_POWER,
    SAFETY_FUNC_LAST,
    SAFETY_FUNC_ENABLE_SWITCH_RELEASE = SAFETY_FUNC_LAST
} SAFETY_FUNC;