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LOCAL_ZONE_PROPERTY_JOINT_RANGE

This structure defines local joint range limits for a specific safety zone. It allows selective overriding of the global joint range configuration (CONFIG_JOINT_RANGE) for individual joints within a local zone.

Each joint can optionally override its global configuration using the _iOverride flag array.

BYTE#

Field Name

Data Type

Value

Remarks

0

_iOverride

unsigned char[6]

0 or 1

Override flag for each joint
0: Use global joint range
1: Override with local property

6

_fMinRange

float[6]

Local minimum joint angle or position (° or rad).
Applied only if the corresponding _iOverride[i] = 1.

30

_fMaxRange

float[6]

Local maximum joint angle or position (° or rad).
Applied only if the corresponding _iOverride[i] = 1.

Total size: 54 bytes

Defined in: DRFS.h

typedef struct _LOCAL_ZONE_PROPERTY_JOINT_RANGE
{
    /* Override flag (0: no override, 1: override global property) */
    unsigned char _iOverride[6];

    /* Optional reduced override (deprecated) */
    /* unsigned char _iOverrideReduce[6]; */

    /* Minimum joint range (° or rad) */
    float _fMinRange[6];

    /* Maximum joint range (° or rad) */
    float _fMaxRange[6];
} LOCAL_ZONE_PROPERTY_JOINT_RANGE, *LPLOCAL_ZONE_PROPERTY_JOINT_RANGE;

Note

  • This structure is typically nested within a local safety zone configuration (see SAFETY_ZONE_PROPERTY_LOCAL_ZONE).

  • The _iOverride array enables joint-level selective overrides, making it useful for workspace-limited zones or restricted-motion tasks.

  • The commented _iOverrideReduce field indicates a previously supported reduced mode override, reserved for backward compatibility.