You're reading the documentation for an older, but still supported version (GL013300).
For information on the latest version, please have a look at GL013301.

SAFETY_ZONE_PROPERTY_LOCAL_ZONE

This structure defines comprehensive local safety zone properties, allowing the configuration of individual behavior overrides and safety reactions within a specific local zone of the robot workspace. Each field provides an option to locally override the global safety configuration.

This structure integrates joint, TCP, and collision parameters, as well as control flags for LED indication, nudge function, and collaborative workspace modes.

BYTE#	Field Name	Data Type	Value	Remarks
0	`_tJointRangeOverride`	LOCAL_ZONE_PROPERTY_JOINT_RANGE		Override for joint range limits (min/max).
76	`_tJointSpeedOverride`	LOCAL_ZONE_PROPERTY_JOINT_SPEED		Override for joint speed limits.
108	`_tTcpForceOverride`	LOCAL_ZONE_PROPERTY_TCP_FORCE		Override for TCP force.
113	`_tTcpPowerOverride`	LOCAL_ZONE_PROPERTY_TCP_POWER		Override for TCP power.
118	`_tTcpSpeedOverride`	LOCAL_ZONE_PROPERTY_TCP_SPEED		Override for TCP speed.
123	`_tTcpMomentumOverride`	LOCAL_ZONE_PROPERTY_TCP_MOMENTUM		Override for TCP momentum.
128	`_tCollisionOverride`	LOCAL_ZONE_PROPERTY_COLLISION		Override for collision detection sensitivity.
133	`_tSpeedRate`	LOCAL_ZONE_PROPERTY_SPEED_RATE		Override for robot motion speed rate.
138	`_tCollisionViolationStopmodeOverride`	LOCAL_ZONE_PROPERTY_COLLISION_STOPMODE		Override for stop behavior when a collision occurs.
140	`_tForceViolationStopmodeOverride`	LOCAL_ZONE_PROPERTY_TCPSLF_STOPMODE		Override for stop behavior during TCP or self-limit events.
142	`_tToolOrientationLimitOverride`	LOCAL_ZONE_PROPERTY_TOOL_ORIENTATION		Override for tool orientation limit (direction and maximum deviation angle).
159	`_iDynamicZoneEnable`	`unsigned char`	0~8	Dynamic zone enable option. 0: Disable, 1~8: Mapped to safety input channel.
160	`_iLedOverride`	`unsigned char`	0~2	LED indicator control. 0: Not used, 1: Green, 2: Yellow
161	`_iNundgeEanble`	`unsigned char`	0 or 1	Enables or disables nudge functionality.
162	`_iAllowLessSafeWork`	`unsigned char`	0 or 1	Allows less safe operations (e.g., relaxed limits) when active.
163	`_iOverrideReduce`	`unsigned char`	0 or 1	Ignore or apply global reduce mode.
164	`_iInsideZoneDectection`	`unsigned char`	0~8	Inside zone detection option. 0: Not used, 1~8: Safety input channel index.
165	`_bCollaborativeZone`	`unsigned char`	0 or 1	Collaborative workspace flag.
166	`_tReservedBuffer[58]`	`unsigned char[58]`		Reserved for internal use and future expansion. Includes flags for: - Collaborative workspace - Collision mute zone - Tool orientation limit zone - Clamping prevention zone

Total size: 224 bytes

Defined in: DRFS.h

typedef struct _SAFETY_ZONE_PROPERTY_LOCAL_ZONE
{
    LOCAL_ZONE_PROPERTY_JOINT_RANGE        _tJointRangeOverride;
    LOCAL_ZONE_PROPERTY_JOINT_SPEED        _tJointSpeedOverride;
    LOCAL_ZONE_PROPERTY_TCP_FORCE          _tTcpForceOverride;
    LOCAL_ZONE_PROPERTY_TCP_POWER          _tTcpPowerOverride;
    LOCAL_ZONE_PROPERTY_TCP_SPEED          _tTcpSpeedOverride;
    LOCAL_ZONE_PROPERTY_TCP_MOMENTUM       _tTcpMomentumOverride;
    LOCAL_ZONE_PROPERTY_COLLISION          _tCollisionOverride;
    LOCAL_ZONE_PROPERTY_SPEED_RATE         _tSpeedRate;
    LOCAL_ZONE_PROPERTY_COLLISION_STOPMODE _tCollisionViolationStopmodeOverride;
    LOCAL_ZONE_PROPERTY_TCPSLF_STOPMODE    _tForceViolationStopmodeOverride;
    LOCAL_ZONE_PROPERTY_TOOL_ORIENTATION   _tToolOrientationLimitOverride;

    unsigned char _iDynamicZoneEnable;
    unsigned char _iLedOverride;
    unsigned char _iNundgeEanble;
    unsigned char _iAllowLessSafeWork;
    unsigned char _iOverrideReduce;
    unsigned char _iInsideZoneDectection;
    unsigned char _bCollaborativeZone;

    unsigned char _tReservedBuffer[58];
} SAFETY_ZONE_PROPERTY_LOCAL_ZONE, *LPSAFETY_ZONE_PROPERTY_LOCAL_ZONE;

Note

This structure allows fine-grained local overrides for all major safety parameters.
Useful for defining collaborative work areas, restricted zones, or sensitive environments with unique safety responses.
The reserved buffer provides compatibility with future versions, ensuring forward extensibility of the local zone property schema.