LOCAL_ZONE_PROPERTY_SPEED_RATE

This structure defines a local override for the overall robot speed scaling factor within a designated safety zone. It adjusts the robot’s global motion speed rate to ensure safe operation when the robot enters or operates inside a restricted zone.

BYTE#

Field Name

Data Type

Value

Remarks

0

_iOverride

unsigned char

0 or 1

Override flag
0: Use global speed rate
1: Apply local speed rate

1

_fSpeedRate

float

0.0 ~ 1.0

Local motion speed rate multiplier
(e.g., 0.5 → 50% of global speed)

Total size: 5 bytes

Defined in: DRFS.h

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

    /* Local motion speed rate (0.0 ~ 1.0) */
    float _fSpeedRate;
} LOCAL_ZONE_PROPERTY_SPEED_RATE, *LPLOCAL_ZONE_PROPERTY_SPEED_RATE;

Note

  • This structure allows dynamically scaling robot motion speed in a local zone.

  • Commonly used for collaborative mode or restricted operation areas.

  • Setting _fSpeedRate to 0.5 limits all motion commands to 50% of normal speed.