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LOCAL_ZONE_PROPERTY_TOOL_ORIENTATION

This structure defines a local override for the tool orientation limit within a safety zone. It constrains the tool’s allowed direction and maximum rotation angle, ensuring safe tool posture during operation.

BYTE#

Field Name

Data Type

Value

Remarks

0

_iOverride

unsigned char

0 or 1

Override flag
0: Use global orientation limit
1: Apply local orientation limit

1

_fDirection

float[3]

Normalized direction vector (X, Y, Z)
defining the allowed tool direction

13

_fAngle

float

degrees

Maximum allowable deviation angle (°) from the defined tool direction

Total size: 17 bytes

Defined in: DRFS.h

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

    /* Tool direction vector (X, Y, Z) */
    float _fDirection[3];

    /* Maximum deviation angle (degrees) */
    float _fAngle;
} LOCAL_ZONE_PROPERTY_TOOL_ORIENTATION, *LPLOCAL_ZONE_PROPERTY_TOOL_ORIENTATION;

Note

  • Used for maintaining a safe tool posture in zones requiring constrained approach angles (e.g., welding, inspection, or assembly).

  • The robot limits tool orientation to remain within _fAngle of the vector _fDirection.

  • Prevents accidental contact or misalignment during close-proximity operations.