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.

get_safety_configuration_ex_v3 (DRCF v3)

This function retrieves the current safety configuration from the controller for DRCF version 3 firmware.

It returns a pointer to SAFETY_CONFIGURATION_EX2_V3, an extended layout that keeps v2 fields and adds v3-specific items (e.g., expanded zone/property models and additional options).

Definition
DRFLEx.h within class CDRFLEx, public section (line 924)

// DRCF v3
LPSAFETY_CONFIGURATION_EX2_V3 get_safety_configuration_ex_v3()
{
    return _get_safety_configuration_ex_v3(_rbtCtrl);
}

Parameter
None

Return

Type	Description
LPSAFETY_CONFIGURATION_EX2_V3	Pointer to the current safety configuration (DRCF v3 extended layout).

Example

#include "DRFLEx.h"
#include <iostream>
using namespace DRAFramework;

int main() {
    CDRFLEx drfl;

    LPSAFETY_CONFIGURATION_EX2_V3 cfg = drfl.get_safety_configuration_ex_v3();
    if (!cfg) {
        std::cerr << "Failed to read safety configuration (DRCF v3)\n";
        return -1;
    }

    // Example: read a few representative fields (names may vary by header version)
    std::cout << "Collision sensitivity: " << cfg->_fCollisionSensitivity << "\n";
    std::cout << "Active Tool Shape: " << cfg->_szActiveToolShape << "\n";
    std::cout << "Safety zone count: " << cfg->_iSafetyZoneCount << "\n";
    return 0;
}