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LOCAL_ZONE_PROPERTY_TCP_MOMENTUM

This structure defines a local override for the TCP momentum limit within a safety zone. It restricts the momentum (mass × velocity) of the TCP to reduce kinetic energy during collaborative or restricted operations.

BYTE#

Field Name

Data Type

Value

Remarks

0

_iOverride

unsigned char

0 or 1

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

1

_fMomentum

float

Local TCP momentum limit (kg·m/s)

Total size: 5 bytes

Defined in: DRFS.h

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

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

    /* Local TCP momentum limit (kg·m/s) */
    float _fMomentum;
} LOCAL_ZONE_PROPERTY_TCP_MOMENTUM, *LPLOCAL_ZONE_PROPERTY_TCP_MOMENTUM;

Note