SAFETY_CONFIGURATION_EX2

This structure provides the current safety configuration snapshot of the controller (DRCF v2 path). Compared to SAFETY_CONFIGURATION_EX, it uses CONFIG_SAFETY_IO_OP (operation options) and expands the User Coordinates list to 100 items.

BYTE#	Field Name	Data Type	Value	Remarks
0	_iDataVersion	unsigned int		Data version
4	_tJointRange	CONFIG_JOINT_RANGE		Joint space range (Normal/Reduced)
232	_tGeneralRange	CONFIG_GENERAL_RANGE		Force/Power/Speed/Momentum limits
280	_fCollisionSensitivity	float		Collision sensitivity
284	_tSafetyFunc	CONFIG_SAFETY_FUNCTION		Safety function map (SF05–SF17)
318	_tTool	CONFIG_TOOL_SYMBOL		Tool name & data
390	_tTcp	CONFIG_TCP_SYMBOL		TCP name & data
446	_tInstallPose	CONFIG_INSTALL_POSE		Install pose (gradient/rotation)
454	_tSafetyIO	CONFIG_SAFETY_IO_OP		Safety I/O with operation options (2×16 map + flags)
520	_tSafetySpaceVF	CONFIG_VIRTUAL_FENCE		Operation space (virtual fence)
632	_tSafetySpaceSZ	CONFIG_SAFE_ZONE		Safety zone
689	_tSafetySpaceESZ	ENABLE_SAFE_ZONE		Enable safety zone
692	_tSafetySpacePZ	CONFIG_PROTECTED_ZONE		Protected zone
1722	_tSafetySpaceCM	CONFIG_COLLISION_MUTE_ZONE		Collision mute zone
3122	_tSafetySpaceTO	CONFIG_TOOL_ORIENTATION_LIMIT_ZONE		Tool orientation limit zone
4312	_tSafetySpaceTS	CONFIG_TOOL_SHAPE		Tool shape
4827	_tConfigNudge	CONFIG_NUDGE		Nudge setting
4836	_tCockPit	CONFIG_COCKPIT_EX		Cockpit setting
4840	_tIdleOff	CONFIG_IDLE_OFF		Auto servo-off setting
4845	_tConfigTCP	CONFIG_TCP_LIST		TCP list setting
7649	_tConfigTool	CONFIG_TOOL_LIST		Tool list setting
11253	_tConfigToolShape	CONFIG_TOOL_SHAPE_LIST		Tool shape list setting
38607	_szActiveTcp	char[32]		Active TCP name
38639	_szActiveTool	char[32]		Active tool name
38671	_szActiveToolShape	char[32]		Active tool-shape name
38703	_tModbusList	MODBUS_DATA_LIST		Modbus list
45805	_tWorld2BaseRelation	CONFIG_WORLD_COORDINATE		World coordination setting
45830	m_CwsSpeedRatio	float		CWS speed ratio
45834	m_IoSpeedRatio	float		IO speed ratio
45838	_iSafetyZoneCount	int		Number of safety zones
45842	_tSafetyZone[20]	CONFIG_SAFETY_ZONE		Safety zone array (max 20)
54002	_iUserCoordCount	int		Number of user coordinates
54006	_tUserCoordinates[100]	CONFIG_USER_COORDINATE_EX		User coordinate array (max 100)
57206	_tConfigurableIO	CONFIG_CONFIGURABLE_IO		Configurable IO configuration

Total size: 57,238 bytes

Defined in: DRFS.h

typedef struct _SAFETY_CONFIGURATION_EX2
{
    unsigned int _iDataVersion;
    CONFIG_JOINT_RANGE _tJointRange;
    CONFIG_GENERAL_RANGE _tGeneralRange;
    float _fCollisionSensitivity;
    CONFIG_SAFETY_FUNCTION _tSafetyFunc;
    CONFIG_TOOL_SYMBOL _tTool;
    CONFIG_TCP_SYMBOL _tTcp;
    CONFIG_INSTALL_POSE _tInstallPose;
    CONFIG_SAFETY_IO_OP _tSafetyIO;    // operation options variant
    //CONFIG_SAFETY_IO_EX _tSafetyIO;  // (unused here)

    CONFIG_VIRTUAL_FENCE _tSafetySpaceVF;
    CONFIG_SAFE_ZONE _tSafetySpaceSZ;
    ENABLE_SAFE_ZONE _tSafetySpaceESZ;
    CONFIG_PROTECTED_ZONE _tSafetySpacePZ;
    CONFIG_COLLISION_MUTE_ZONE _tSafetySpaceCM;
    CONFIG_TOOL_ORIENTATION_LIMIT_ZONE _tSafetySpaceTO;
    CONFIG_TOOL_SHAPE _tSafetySpaceTS;

    CONFIG_NUDGE _tConfigNudge;
    CONFIG_COCKPIT_EX _tCockPit;
    CONFIG_IDLE_OFF _tIdleOff;
    CONFIG_TCP_LIST _tConfigTCP;
    CONFIG_TOOL_LIST _tConfigTool;
    CONFIG_TOOL_SHAPE_LIST _tConfigToolShape;

    char _szActiveTcp[MAX_SYMBOL_SIZE];
    char _szActiveTool[MAX_SYMBOL_SIZE];
    char _szActiveToolShape[MAX_SYMBOL_SIZE];

    MODBUS_DATA_LIST _tModbusList;
    CONFIG_WORLD_COORDINATE _tWorld2BaseRelation;
    float m_CwsSpeedRatio;
    float m_IoSpeedRatio;

    int _iSafetyZoneCount;
    CONFIG_SAFETY_ZONE _tSafetyZone[20];

    int _iUserCoordCount;
    CONFIG_USER_COORDINATE_EX _tUserCoordinates[100];

    CONFIG_CONFIGURABLE_IO _tConfigurableIO;

} SAFETY_CONFIGURATION_EX2, *LPSAFETY_CONFIGURATION_EX2;