CONFIG_VIRTUAL_FENCE

This structure defines the configuration parameters for Virtual Fence, which limits the robot’s operational workspace using geometric boundaries such as cubes, polygons, or cylinders.

BYTE#	Field Name	Data Type	Value	Remarks
0	_iTargetRef	unsigned char	0, 1, 101-200	Coordinate reference for the virtual fence. BASE: 0, TOOL: 1, USER COORD: 101-200
1	_iFenceType	unsigned char	0-2	Fence shape type 0: Cube, 1: Polygon, 2: Cylinder
2	_tFenceObject	VIRTUAL_FENCE_OBJECT		Operation space geometry definition for the selected fence type.

Total size: 149 bytes

Defined in: DRFS.h

typedef struct _CONFIG_VIRTUAL_FENCE
{
    unsigned char        _iTargetRef;     /* coordinate reference (base:0, tool:1, user:101~200) */
    unsigned char        _iFenceType;     /* fence type (cube:0, polygon:1, cylinder:2) */
    VIRTUAL_FENCE_OBJECT _tFenceObject;   /* virtual fence geometry definition */
} CONFIG_VIRTUAL_FENCE, *LPCONFIG_VIRTUAL_FENCE;