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LOCAL_ZONE_PROPERTY_JOINT_SPEED

This structure defines local joint speed limits for a specific safety zone. It allows selective overriding of the global joint speed configuration to restrict motion speed within designated zones for safety purposes.

Each joint can independently override the global setting 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 speed limit 1: Override with local value
6	_fSpeed	float[6]		Local joint speed limits (°/s or rad/s). Applied only if _iOverride[i] = 1 for the corresponding joint.

Total size: 30 bytes

Defined in: DRFS.h

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

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

    /* Local joint speed limits (°/s or rad/s) */
    float _fSpeed[6];
} LOCAL_ZONE_PROPERTY_JOINT_SPEED, *LPLOCAL_ZONE_PROPERTY_JOINT_SPEED;

Note

• _iOverride enables per-joint selective activation of local limits.

• Used for safety-critical applications to slow robot motion when entering specific workspace zones (e.g., collaborative or restricted areas).