get_safety_configuration_ex (DRCF v2)

This function retrieves the current safety configuration from the controller for DRCF version 2 firmware.

It returns a pointer to SAFETY_CONFIGURATION_EX2, which includes fields for joint/general ranges, collision sensitivity, safety functions, tool/TCP, install pose, safety I/O, virtual fence / safe zones, tool shape, cockpit/idle-off/nudge, TCP/Tool lists, Modbus list, world relation, speed ratios, safety zones, user coordinates, and configurable I/O, etc.

Definition
DRFLEx.h within class CDRFLEx, public section (line 921)

// DRCF v2
LPSAFETY_CONFIGURATION_EX2 get_safety_configuration_ex()
{
    return _get_safety_configuration_ex(_rbtCtrl);
}

Parameter
None

Return

Type	Description
LPSAFETY_CONFIGURATION_EX2	Pointer to the current safety configuration (DRCF v2 layout).

Example

#include "DRFLEx.h"
#include <iostream>
using namespace DRAFramework;

int main() {
    CDRFLEx drfl;

    LPSAFETY_CONFIGURATION_EX2 cfg = drfl.get_safety_configuration_ex();
    if (!cfg) {
        std::cerr << "Failed to read safety configuration (DRCF v2)\n";
        return -1;
    }

    // Example: read a few representative fields (names may vary by header version)
    std::cout << "Collision sensitivity: " << cfg->_fCollisionSensitivity << "\n";
    std::cout << "Active TCP: " << cfg->_szActiveTcp << "\n";
    std::cout << "UserCoord count: " << cfg->_iUserCoordCount << "\n";
    return 0;
}