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CONFIG_SAFETY_FUNCTION

This is a structure information to set the safety function, and consists of the following fields. It is implemented as a union, allowing two different views of the same memory region:

• Bitfield view (two 4-bit workspaces per function)

• Raw byte array view (1 byte per function)

BYTE#	Field Name	Data Type	Value	Remarks
0	_tStopCode[SAFETY_FUNC_LAST]	unsigned char _iStdWorkSpace:4; } unsigned char _iColWorkSpace:4; }		Refer to the Definition of Below Struct
34	_iStopCode[SAFETY_FUNC_LAST]	unsigned char		Raw 1-byte stop function value per item Overlays the same memory as _tStopCode via union mapping. SF05: Emergency Stop SF06: Protective Stop SF07: Standstill Monitoring SF08: Joint Angle Monitoring SF09: Joint Speed Monitoring SF10: Joint Torque Monitoring SF11: Collision Detection SF12: TCP Position Monitoring SF13: TCP Orientation Monitoring SF14: TCP Speed Monitoring SF15: TCP Force Monitoring SF16: Momentum Monitoring SF17: Power Monitoring

Total size: 34 bytes

Defined in: DRFS.h

typedef union _CONFIG_SAFETY_FUNCTION
{
    struct {
        unsigned char _iStdWorkSpace : 4;  /* Standalone Workspace */
        unsigned char _iColWorkSpace : 4;  /* Collaborative Workspace */
    } _tStopCode[SAFETY_FUNC_LAST];

    unsigned char _iStopCode[SAFETY_FUNC_LAST];
} CONFIG_SAFETY_FUNCTION, *LPCONFIG_SAFETY_FUNCTION;

Note

• This union allows reading or writing either by bitfield or byte view.

• _tStopCode uses 17 entries (SF05–SF17), each containing two 4-bit workspace codes.

• _iStopCode provides direct 1-byte access for all 17 safety functions.