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LOCAL_ZONE_PROPERTY_TCP_FORCE

This structure defines a local override for the TCP (Tool Center Point) force limit within a specific safety zone. It allows the user to restrict or relax the allowable TCP force independently from the global configuration.

BYTE#

Field Name

Data Type

Value

Remarks

0

_iOverride

unsigned char

0 or 1

Override flag
0: Use global TCP force limit
1: Apply local TCP force limit

1

_fForce

float

Local TCP force limit (N)

Total size: 5 bytes

Defined in: DRFS.h

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

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

    /* Local TCP force limit (N) */
    float _fForce;
} LOCAL_ZONE_PROPERTY_TCP_FORCE, *LPLOCAL_ZONE_PROPERTY_TCP_FORCE;

Note

  • Used for restricting TCP contact force in sensitive zones such as collaborative or human-interaction areas.

  • If _iOverride is set to 1, the robot applies the specified _fForce as the maximum allowable TCP force in that local zone.