GENERAL_RANGE

This structure defines the global physical safety limits of the robot, including allowable maximum force, power, speed, and momentum values. It is used within CONFIG_GENERAL_RANGE to configure overall safety thresholds applied during motion execution.

BYTE#

Field Name

Data Type

Value

Remarks

0

_fMaxForce

float

Maximum allowable external force (N)

4

_fMaxPower

float

Maximum power limit (W)

8

_fMaxSpeed

float

Maximum speed limit (mm/s)

12

_fMaxMomentum

float

Maximum momentum limit (kg·m/s)

Total size: 16 bytes

Defined in: DRFS.h

typedef struct _GENERAL_RANGE
{
    /* Maximum allowable external force (N) */
    float _fMaxForce;

    /* Maximum power limit (W) */
    float _fMaxPower;

    /* Maximum robot speed (mm/s) */
    float _fMaxSpeed;

    /* Maximum momentum (kg·m/s) */
    float _fMaxMomentum;

} GENERAL_RANGE, *LPGENERAL_RANGE;

Note

  • This structure is typically used inside CONFIG_GENERAL_RANGE.

  • The defined limits apply globally across all robot motions and tasks.

  • These values are essential for safety certification and compliance verification.