LOCAL_ZONE_PROPERTY_COLLISION

This structure defines a local override for collision detection sensitivity in a specific safety zone. It allows fine-tuning of the robot’s force-based collision detection system to adapt to different operational conditions.

BYTE#

Field Name

Data Type

Value

Remarks

0

_iOverride

unsigned char

0 or 1

Override flag
0: Use global collision sensitivity
1: Apply local collision sensitivity

1

_fSensitivity

float

Local collision sensitivity value
(lower value → higher sensitivity)

Total size: 5 bytes

Defined in: DRFS.h

typedef struct _LOCAL_ZONE_PROPERTY_COLLISION
{
    /* Override flag (0: no override, 1: override global property) */
    unsigned char _iOverride;

    /* Optional inspection mode (deprecated) */
    /* unsigned char _iCollisionInspection; */

    /* Local collision sensitivity */
    float _fSensitivity;
} LOCAL_ZONE_PROPERTY_COLLISION, *LPLOCAL_ZONE_PROPERTY_COLLISION;

Note

  • _fSensitivity typically represents a threshold value for detecting external collision forces.

  • A lower value increases sensitivity, triggering stops sooner.

  • Useful for zones requiring delicate contact or human proximity protection.