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SAFETY_CONFIGURATION_EX

This structure provides the current (legacy) safety configuration snapshot of the controller. It aggregates joint/force ranges, safety functions, active tool/TCP sets, virtual fence & zones, Modbus list, world coordinates, speed ratios, and configurable I/O into a single payload.

Warning

This type is deprecated. get_safety_configuration() no longer returns this type.

BYTE#	Field Name	Data Type	Value	Remarks
0	_iDataVersion	unsigned int		Data version
4	_tJointRange	CONFIG_JOINT_RANGE		Joint space range (Normal/Reduced)
232	_tGeneralRange	CONFIG_GENERAL_RANGE		Force/Power/Speed/Momentum limits
280	_fCollisionSensitivity	float		Collision sensitivity
284	_tSafetyFunc	CONFIG_SAFETY_FUNCTION		Safety function map (SF05–SF17)
318	_tTool	CONFIG_TOOL_SYMBOL		Tool name & data
390	_tTcp	CONFIG_TCP_SYMBOL		TCP name & data
446	_tInstallPose	CONFIG_INSTALL_POSE		Install pose (gradient/rotation)
454	_tSafetyIO	CONFIG_SAFETY_IO		Safety I/O map (8 in, 8 out)
470	_tSafetySpaceVF	CONFIG_VIRTUAL_FENCE		Operation space (virtual fence)
582	_tSafetySpaceSZ	CONFIG_SAFE_ZONE		Safety zone
639	_tSafetySpaceESZ	ENABLE_SAFE_ZONE		Enable safety zone
642	_tSafetySpacePZ	CONFIG_PROTECTED_ZONE		Protected zone
1672	_tSafetySpaceCM	CONFIG_COLLISION_MUTE_ZONE		Collision mute zone
3072	_tSafetySpaceTO	CONFIG_TOOL_ORIENTATION_LIMIT_ZONE		Tool orientation limit zone
4262	_tSafetySpaceTS	CONFIG_TOOL_SHAPE		Tool shape
4777	_tConfigNudge	CONFIG_NUDGE		Nudge setting
4786	_tCockPit	CONFIG_COCKPIT_EX		Cockpit setting
4790	_tIdleOff	CONFIG_IDLE_OFF		Auto servo-off setting
4795	_tConfigTCP	CONFIG_TCP_LIST		TCP list setting
7599	_tConfigTool	CONFIG_TOOL_LIST		Tool list setting
11203	_tConfigToolShape	CONFIG_TOOL_SHAPE_LIST		Tool shape list setting
38557	_szActiveTcp	char[32]		Active TCP name
38589	_szActiveTool	char[32]		Active tool name
38621	_szActiveToolShape	char[32]		Active tool-shape name
38653	_tModbusList	MODBUS_DATA_LIST		Modbus list
45755	_tWorld2BaseRelation	CONFIG_WORLD_COORDINATE		World coordination setting
45780	m_CwsSpeedRatio	float		CWS speed ratio
45784	m_IoSpeedRatio	float		IO speed ratio
45788	_iSafetyZoneCount	int		Number of safety zones
45792	_tSafetyZone[20]	CONFIG_SAFETY_ZONE		Safety zone array (max 20)
53952	_iUserCoordCount	int		Number of user coordinates
53956	_tUserCoordinates[20]	CONFIG_USER_COORDINATE_EX		User coordinate array (max 20)
54596	_tConfigurableIO	CONFIG_CONFIGURABLE_IO		Configurable IO configuration

Total size: 54,628 bytes

Defined in: DRFS.h

typedef struct _SAFETY_CONFIGURATION_EX
{
    unsigned int                 _iDataVersion;
    CONFIG_JOINT_RANGE           _tJointRange;
    CONFIG_GENERAL_RANGE         _tGeneralRange;
    float                        _fCollisionSensitivity;
    CONFIG_SAFETY_FUNCTION       _tSafetyFunc;
    CONFIG_TOOL_SYMBOL           _tTool;
    CONFIG_TCP_SYMBOL            _tTcp;
    CONFIG_INSTALL_POSE          _tInstallPose;
    CONFIG_SAFETY_IO             _tSafetyIO; /* legacy */
    //CONFIG_SAFETY_IO_EX        _tSafetyIO; /* newer variants */

    CONFIG_VIRTUAL_FENCE         _tSafetySpaceVF;
    CONFIG_SAFE_ZONE             _tSafetySpaceSZ;
    ENABLE_SAFE_ZONE             _tSafetySpaceESZ;
    CONFIG_PROTECTED_ZONE        _tSafetySpacePZ;
    CONFIG_COLLISION_MUTE_ZONE   _tSafetySpaceCM;
    CONFIG_TOOL_ORIENTATION_LIMIT_ZONE _tSafetySpaceTO;
    CONFIG_TOOL_SHAPE            _tSafetySpaceTS;

    CONFIG_NUDGE                 _tConfigNudge;
    CONFIG_COCKPIT_EX            _tCockPit;
    CONFIG_IDLE_OFF              _tIdleOff;
    CONFIG_TCP_LIST              _tConfigTCP;
    CONFIG_TOOL_LIST             _tConfigTool;
    CONFIG_TOOL_SHAPE_LIST       _tConfigToolShape;

    char                         _szActiveTcp[MAX_SYMBOL_SIZE];
    char                         _szActiveTool[MAX_SYMBOL_SIZE];
    char                         _szActiveToolShape[MAX_SYMBOL_SIZE];

    MODBUS_DATA_LIST             _tModbusList;
    CONFIG_WORLD_COORDINATE      _tWorld2BaseRelation;
    float                        m_CwsSpeedRatio;
    float                        m_IoSpeedRatio;

    int                          _iSafetyZoneCount;
    CONFIG_SAFETY_ZONE           _tSafetyZone[20];

    int                          _iUserCoordCount;
    CONFIG_USER_COORDINATE_EX    _tUserCoordinates[20];

    CONFIG_CONFIGURABLE_IO       _tConfigurableIO;

} SAFETY_CONFIGURATION_EX, *LPSAFETY_CONFIGURATION_EX;