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get_safety_configuration (DRCF v3, Manual Mode)

This section explains how to use get_safety_configuration during Manual (Teach) operations to retrieve the extended safety configuration of the robot controller when using DRCF_VERSION == 3. Compared to the v2 structure, this version provides additional safety fields such as user-defined safety zones, enhanced IO mapping, and collaborative operation parameters.

Typical usage

  • Inspect and log comprehensive safety parameters including newly added safety attributes in DRCF v3.

  • Verify updated configuration of safe torque off, protective limits, and emergency stop hierarchy.

  • Confirm system-level integration with external safety devices under the new configuration model.

Note

  • The data is read-only and reflects the currently active configuration applied by the controller.

Example: Retrieve and display extended safety configuration (DRCF v3)

// Preconditions:
// - Connection established (open_connection)
// - Manual (Teach) mode active

// 1) Retrieve safety configuration (DRCF v3)
LPSAFETY_CONFIGURATION_EX2_V3 pSafetyCfgV3 = drfl.get_safety_configuration();
if (!pSafetyCfgV3) {
    printf("[Safety Config v3] Failed to retrieve configuration.\n");
    return -1;
}

// 2) Display key configuration fields
printf("[Safety Config v3]\n");
printf("Collision Sensitivity     : %.1f\n", pSafetyCfgV3->_fCollisionSensitivity);
printf("Active TCP                : %s\n", pSafetyCfgV3->_szActiveTcp);
printf("Active Tool               : %s\n", pSafetyCfgV3->_szActiveTool);
printf("Number of Safety Zones    : %d\n", pSafetyCfgV3->_iSafetyZoneCount);

Tips

  • get_safety_configuration() with DRCF v3 provides richer diagnostic data for advanced safety environments.

  • Ideal for validation, commissioning, or system integration with third-party safety controllers.

  • It is recommended to log retrieved configurations before modifying safety parameters with set_safety_mode or related functions.