LOCAL_ZONE_PROPERTY_TCP_SPEED

This structure defines a local override for the TCP (Tool Center Point) speed limit within a designated safety zone. It allows zone-specific restrictions on TCP velocity to enhance operator safety or precision during collaborative operations.

BYTE#

Field Name

Data Type

Value

Remarks

0

_iOverride

unsigned char

0 or 1

Override flag
0: Use global TCP speed limit
1: Apply local TCP speed limit

1

_fSpeed

float

Local TCP speed limit (m/s)

Total size: 5 bytes

Defined in: DRFS.h

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

    /* Optional reduced override (deprecated) */
    /* unsigned char _iOverrideReduce; */

    /* Local TCP speed limit (m/s) */
    float _fSpeed;
} LOCAL_ZONE_PROPERTY_TCP_SPEED, *LPLOCAL_ZONE_PROPERTY_TCP_SPEED;

Note

  • This structure is used to locally reduce the maximum TCP speed in specific workspace zones.

  • Typically applied when a robot operates near humans or precision fixtures.