SAFETY_CONFIGURATION_EX2_V3

This structure provides the current safety configuration snapshot of the controller for DRCF v3. Compared to SAFETY_CONFIGURATION_EX2 (v2 path), this version adopts the new “_EX” data types for TCP, world coordinates, user coordinates, safety I/O, and configurable I/O:

• CONFIG_TCP_SYMBOL_EX / CONFIG_TCP_LIST_EX

• CONFIG_WORLD_COORDINATE_EX

• CONFIG_USER_COORDINATE_EX2 (100 entries)

• CONFIG_SAFETY_IO_EX

• CONFIG_CONFIGURABLE_IO_EX

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 (v3)	CONFIG_TCP_SYMBOL_EX		TCP name & data (supports POSITION_EX)
495	_tInstallPose	CONFIG_INSTALL_POSE		Install pose (gradient/rotation)
503	_tSafetyIO (v3)	CONFIG_SAFETY_IO_EX		Safety I/O map (extended 2x16)
535	_tSafetySpaceVF	CONFIG_VIRTUAL_FENCE		Operation space (virtual fence)
684	_tSafetySpaceSZ	CONFIG_SAFE_ZONE		Safety zone
1086	_tSafetySpaceESZ	ENABLE_SAFE_ZONE		Enable safety zone
1089	_tSafetySpacePZ	CONFIG_PROTECTED_ZONE		Protected zone
2119	_tSafetySpaceCM	CONFIG_COLLISION_MUTE_ZONE		Collision mute zone
3519	_tSafetySpaceTO	CONFIG_TOOL_ORIENTATION_LIMIT_ZONE		Tool orientation limit zone
6349	_tSafetySpaceTS	CONFIG_TOOL_SHAPE		Tool shape
6864	_tConfigNudge	CONFIG_NUDGE		Nudge setting
6873	_tCockPit	CONFIG_COCKPIT_EX		Cockpit setting
6877	_tIdleOff	CONFIG_IDLE_OFF		Auto servo-off setting
6882	_tConfigTCP (v3)	CONFIG_TCP_LIST_EX		TCP list setting (EX entries)
12136	_tConfigTool	CONFIG_TOOL_LIST		Tool list setting
15740	_tConfigToolShape	CONFIG_TOOL_SHAPE_LIST		Tool shape list setting
43094	_szActiveTcp	char[MAX_SYMBOL_SIZE]		Active TCP name
43126	_szActiveTool	char[MAX_SYMBOL_SIZE]		Active tool name
43158	_szActiveToolShape	char[MAX_SYMBOL_SIZE]		Active tool-shape name
43190	_tModbusList	MODBUS_DATA_LIST		Modbus list
54392	_tWorld2BaseRelation	CONFIG_WORLD_COORDINATE_EX		World ↔ Base relation (EX)
54424	m_CwsSpeedRatio	float		CWS speed ratio
54428	m_IoSpeedRatio	float		IO speed ratio
54432	_iSafetyZoneCount	int		Number of safety zones
54436	_tSafetyZone[20]	CONFIG_SAFETY_ZONE		Safety zone array (max 20)
62476	_iUserCoordCount	int		Number of user coordinates
62480	_tUserCoordinates[100]	CONFIG_USER_COORDINATE_EX2[100]		User coordinate array (EX2, max 100)
65680	_tConfigurableIO	CONFIG_CONFIGURABLE_IO_EX		Configurable IO mapping (extended)

Total size : 65,744 bytes

Defined in: DRFS.h

typedef struct _SAFETY_CONFIGURATION_EX2_V3
{
    unsigned int _iDataVersion;
    CONFIG_JOINT_RANGE _tJointRange;
    CONFIG_GENERAL_RANGE _tGeneralRange;
    float _fCollisionSensitivity;
    CONFIG_SAFETY_FUNCTION _tSafetyFunc;
    CONFIG_TOOL_SYMBOL _tTool;
    CONFIG_TCP_SYMBOL_EX _tTcp; // v3
    CONFIG_INSTALL_POSE _tInstallPose;
    CONFIG_SAFETY_IO_EX _tSafetyIO; // v3

    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_EX _tConfigTCP; // v3
    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_EX _tWorld2BaseRelation; // v3
    float m_CwsSpeedRatio;
    float m_IoSpeedRatio;

    int _iSafetyZoneCount;
    CONFIG_SAFETY_ZONE _tSafetyZone[20];

    int _iUserCoordCount;
    CONFIG_USER_COORDINATE_EX2 _tUserCoordinates[100]; // v3

    CONFIG_CONFIGURABLE_IO_EX _tConfigurableIO; // v3

} SAFETY_CONFIGURATION_EX2_V3, *LPSAFETY_CONFIGURATION_EX2_V3;

Note

• _EX / EX2 fields in v3 expand pose/orientation representations and lists.

• If you want a byte-accurate table (BYTE# offsets and total size) like earlier sections, we can compute it precisely once the sizes for the following dependent types are fixed in your build:
  POSITION_EX, CONFIG_WORLD_COORDINATE_EX, CONFIG_USER_COORDINATE_EX2. The rest (e.g., CONFIG_SAFETY_IO_EX = 32 bytes, CONFIG_CONFIGURABLE_IO_EX = 64 bytes) are already stable in this manual.