LOCAL_ZONE_PROPERTY_COLLISION_STOPMODE

This structure defines a local override for the robot’s collision stop mode within a specific safety zone. It allows customizing how the robot reacts when a collision is detected, depending on the operational context.

BYTE#	Field Name	Data Type	Value	Remarks
0	_iOverride	unsigned char	0 or 1	Override flag 0: Use global stop mode 1: Apply local stop mode
1	_iStopMode	unsigned char	0, 2, 3, 4	Stop behavior mode 0: STO (Safe Torque Off), 2: SS1 (Safe Stop 1) 3: SS2 (Safe Stop 2), 4: RS1 (Reduced Speed 1)

Total size: 2 bytes

Defined in: DRFS.h

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

    /* Stop behavior mode (0: STO, 2: SS1, 3: SS2, 4: RS1) */
    unsigned char _iStopMode;
} LOCAL_ZONE_PROPERTY_COLLISION_STOPMODE, *LPLOCAL_ZONE_PROPERTY_COLLISION_STOPMODE;

Note

• Enables zone-specific stop behavior upon collision detection.

• Helps balance safety and mechanical integrity in multi-zone workspaces.