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

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