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CONFIG_TOOL_ORIENTATION_LIMIT_ZONE

This structure defines the tool orientation limitation zones used in the safety configuration. Each zone defines a geometric safety object along with a corresponding tool orientation limit. It ensures the robot tool maintains a safe direction when operating within specific spatial regions.

BYTE#	Field Name	Data Type	Value	Remarks
0	_iValidity[10]	unsigned char[10]	0 or 1	Zone validity flag (0: invalid, 1: valid)
10	_tZone[10]	SAFETY_OBJECT		Safety object definition for each tool orientation zone
2670	_tLimit[10]	SAFETY_TOOL_ORIENTATION_LIMIT		Orientation limit (direction and angle) for each zone

Total size: 2,830 bytes

Defined in: DRFS.h

typedef struct _CONFIG_TOOL_ORIENTATION_LIMIT_ZONE
{
    /* Zone validity: 0(invalid), 1(valid) */
    unsigned char _iValidity[10];

    /* Safety object zone definitions */
    SAFETY_OBJECT _tZone[10];

    /* Orientation limits per zone */
    SAFETY_TOOL_ORIENTATION_LIMIT _tLimit[10];

} CONFIG_TOOL_ORIENTATION_LIMIT_ZONE, *LPCONFIG_TOOL_ORIENTATION_LIMIT_ZONE;

Note

• Each entry combines a safety object (e.g., sphere, cuboid, capsule) with a corresponding tool orientation restriction.

• Used in conjunction with SAFETY_TOOL_ORIENTATION_LIMIT to prevent tool misalignment within defined spatial boundaries.