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LOCAL_ZONE_PROPERTY_TCPSLF_STOPMODE

This structure defines a local override for the TCP self-collision stop mode, which specifies how the robot stops when a self-collision or TCP safety event occurs. It functions similarly to LOCAL_ZONE_PROPERTY_COLLISION_STOPMODE, but applies specifically to TCP or self-limit events.

BYTE#	Field Name	Data Type	Value	Remarks
0	_iOverride	unsigned char	0 or 1	Override flag 0: Use global TCP/SLF stop mode 1: Apply local stop mode
1	_iStopMode	unsigned char	0, 2, 3, 4	Stop behavior mode (0: STO, 2: SS1, 3: SS2, 4: RS1)

Total size: 2 bytes

Defined in: DRFS.h

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

    /* Stop behavior mode (0: STO, 2: SS1, 3: SS2, 4: RS1) */
    unsigned char _iStopMode;
} LOCAL_ZONE_PROPERTY_TCPSLF_STOPMODE, *LPLOCAL_ZONE_PROPERTY_TCPSLF_STOPMODE;

Note

• Used to define specific stop actions for TCP overtravel or self-collision detection.

• Ensures consistent safety response depending on the zone or motion type.

• Often used in tool-limited or workspace-limited safety configurations.