SAFETY_CONFIGURATION_EX2_V3

This structure provides the current safety configuration snapshot of the controller for DRCF v3. Compared to SAFETY_CONFIGURATION_EX2 (v2 path), this version adopts the new “_EX” data types for TCP, world coordinates, user coordinates, safety I/O, and configurable I/O:

CONFIG_TCP_SYMBOL_EX / CONFIG_TCP_LIST_EX
CONFIG_WORLD_COORDINATE_EX
CONFIG_USER_COORDINATE_EX2 (100 entries)
CONFIG_SAFETY_IO_EX
CONFIG_CONFIGURABLE_IO_EX

BYTE#	Field Name	Data Type	Remarks
0	`_iDataVersion`	`unsigned int`	Data version
4	`_tJointRange`	CONFIG_JOINT_RANGE	Joint space range (Normal/Reduced)
148	`_tGeneralRange`	CONFIG_GENERAL_RANGE	Force/Power/Speed/Momentum limits
180	`_fCollisionSensitivity`	`float`	Collision sensitivity
184	`_tSafetyFunc`	CONFIG_SAFETY_FUNCTION	Safety function map (SF05-SF17)
201	`_tTool`	CONFIG_TOOL_SYMBOL	Tool name & data
273	`_tTcp` (v3)	CONFIG_TCP_SYMBOL_EX	TCP name & data (supports POSITION_EX)
337	`_tInstallPose`	CONFIG_INSTALL_POSE	Install pose (gradient/rotation)
345	`_tSafetyIO` (v3)	CONFIG_SAFETY_IO_EX	Safety I/O map (extended 2x16)
377	`_tSafetySpaceVF`	CONFIG_VIRTUAL_FENCE	Operation space (virtual fence)
489	`_tSafetySpaceSZ`	CONFIG_SAFE_ZONE	Safety zone
546	`_tSafetySpaceESZ`	ENABLE_SAFE_ZONE	Enable safety zone
549	`_tSafetySpacePZ`	CONFIG_PROTECTED_ZONE	Protected zone
1579	`_tSafetySpaceCM`	CONFIG_COLLISION_MUTE_ZONE	Collision mute zone
2989	`_tSafetySpaceTO`	CONFIG_TOOL_ORIENTATION_LIMIT_ZONE	Tool orientation limit zone
4179	`_tSafetySpaceTS`	CONFIG_TOOL_SHAPE	Tool shape
4694	`_tConfigNudge`	CONFIG_NUDGE	Nudge setting
4703	`_tCockPit`	CONFIG_COCKPIT_EX	Cockpit setting
4707	`_tIdleOff`	CONFIG_IDLE_OFF	Auto servo-off setting
4712	`_tConfigTCP` (v3)	CONFIG_TCP_LIST_EX	TCP list setting (EX entries)
7916	`_tConfigTool`	CONFIG_TOOL_LIST	Tool list setting
11520	`_tConfigToolShape`	CONFIG_TOOL_SHAPE_LIST	Tool shape list setting
38874	`_szActiveTcp`	`char[MAX_SYMBOL_SIZE]`	Active TCP name
38906	`_szActiveTool`	`char[MAX_SYMBOL_SIZE]`	Active tool name
38938	`_szActiveToolShape`	`char[MAX_SYMBOL_SIZE]`	Active tool-shape name
38970	`_tModbusList`	MODBUS_DATA_LIST	Modbus list
46072	`_tWorld2BaseRelation`	CONFIG_WORLD_COORDINATE_EX	World ↔ Base relation (EX)
46108	`m_CwsSpeedRatio`	`float`	CWS speed ratio
46112	`m_IoSpeedRatio`	`float`	IO speed ratio
46116	`_iSafetyZoneCount`	`int`	Number of safety zones
46120	`_tSafetyZone[20]`	CONFIG_SAFETY_ZONE	Safety zone array (max 20)
54220	`_iUserCoordCount`	`int`	Number of user coordinates
54224	`_tUserCoordinates[100]`	`CONFIG_USER_COORDINATE_EX2[100]`	User coordinate array (EX2, max 100)
58224	`_tConfigurableIO`	CONFIG_CONFIGURABLE_IO_EX	Configurable IO mapping (extended)

Total size: 58,288 bytes

Defined in: DRFS.h

typedef struct _SAFETY_CONFIGURATION_EX2_V3
{
    unsigned int _iDataVersion;
    CONFIG_JOINT_RANGE _tJointRange;
    CONFIG_GENERAL_RANGE _tGeneralRange;
    float _fCollisionSensitivity;
    CONFIG_SAFETY_FUNCTION _tSafetyFunc;
    CONFIG_TOOL_SYMBOL _tTool;
    CONFIG_TCP_SYMBOL_EX _tTcp; // v3
    CONFIG_INSTALL_POSE _tInstallPose;
    CONFIG_SAFETY_IO_EX _tSafetyIO; // v3

    CONFIG_VIRTUAL_FENCE _tSafetySpaceVF;
    CONFIG_SAFE_ZONE _tSafetySpaceSZ;
    ENABLE_SAFE_ZONE _tSafetySpaceESZ;
    CONFIG_PROTECTED_ZONE _tSafetySpacePZ;
    CONFIG_COLLISION_MUTE_ZONE _tSafetySpaceCM;
    CONFIG_TOOL_ORIENTATION_LIMIT_ZONE _tSafetySpaceTO;
    CONFIG_TOOL_SHAPE _tSafetySpaceTS;

    CONFIG_NUDGE _tConfigNudge;
    CONFIG_COCKPIT_EX _tCockPit;
    CONFIG_IDLE_OFF _tIdleOff;
    CONFIG_TCP_LIST_EX _tConfigTCP; // v3
    CONFIG_TOOL_LIST _tConfigTool;
    CONFIG_TOOL_SHAPE_LIST _tConfigToolShape;

    char _szActiveTcp[MAX_SYMBOL_SIZE];
    char _szActiveTool[MAX_SYMBOL_SIZE];
    char _szActiveToolShape[MAX_SYMBOL_SIZE];

    MODBUS_DATA_LIST _tModbusList;
    CONFIG_WORLD_COORDINATE_EX _tWorld2BaseRelation; // v3
    float m_CwsSpeedRatio;
    float m_IoSpeedRatio;

    int _iSafetyZoneCount;
    CONFIG_SAFETY_ZONE _tSafetyZone[20];

    int _iUserCoordCount;
    CONFIG_USER_COORDINATE_EX2 _tUserCoordinates[100]; // v3

    CONFIG_CONFIGURABLE_IO_EX _tConfigurableIO; // v3

} SAFETY_CONFIGURATION_EX2_V3, *LPSAFETY_CONFIGURATION_EX2_V3;

Note

_EX / EX2 fields in v3 expand pose/orientation representations and lists.