SAFETY_ZONE_PROPERTY_SPACE_LIMIT

This structure defines the spatial limitation properties for a safety zone. It configures how robot motion is inspected and constrained (body or TCP-based), and specifies optional joint range overrides and dynamic zone activation inputs.

BYTE#	Field Name	Data Type	Value	Remarks
0	_iInspectionType	unsigned char	0~1	Type of inspection target 0: Robot body-based 1: TCP (Tool Center Point)-based
1	_tJointRangeOverride	LOCAL_ZONE_PROPERTY_JOINT_RANGE		Local override of joint motion limits (applied only if the override flag is active for each joint).
55	_iDynamicZoneEnable	unsigned char	0~8	Dynamic zone activation input channel 0: Not used, 1~8: Safety input channel number
56	_iInsideZoneDectection	unsigned char	0~8	Inside-zone detection input channel 0: Not used, 1~8: Safety input channel number

Total size: 57 bytes

Defined in: DRFS.h

typedef struct _SAFETY_ZONE_PROPERTY_SPACE_LIMIT
{
    /* Inspection Type: 0(body), 1(tcp) */
    unsigned char _iInspectionType;

    /* Valid Space (deprecated field)
    unsigned char _iValidSpace;
    */

    /* Override Joint Range configuration */
    LOCAL_ZONE_PROPERTY_JOINT_RANGE _tJointRangeOverride;

    /* Dynamic Zone Enable Option:
       0(Not used), 1~8(Safety input channel) */
    unsigned char _iDynamicZoneEnable;

    /* Inside Zone Detection Option:
       0(Not used), 1~8(Safety input channel) */
    unsigned char _iInsideZoneDectection;
} SAFETY_ZONE_PROPERTY_SPACE_LIMIT, *LPSAFETY_ZONE_PROPERTY_SPACE_LIMIT;

Note

• _iInspectionType determines whether motion safety is monitored based on the robot body or the TCP (Tool Center Point) position.

• _tJointRangeOverride provides joint-level customization for this zone only.

• _iDynamicZoneEnable and _iInsideZoneDectection can be mapped to specific safety input channels for runtime activation or detection.

• The commented _iValidSpace field existed in older versions to indicate inside/outside validity, but is now replaced by zone-type logic.