================================
SafetyFunctionsCommon
================================
    
.. py:currentmodule:: kortex_api.autogen

.. _SafetyFunctionsCommonSafetySystem:

.. py:class:: SafetySystem

    Reference to a safety system mode

   :canonical: kortex_api.autogen.messages.SafetyFunctionsCommon_pb2.SafetySystem

   :param mode:   Safety system mode
   :type mode: :ref:`SafetySystemMode <SafetyFunctionsCommonSafetySystemMode>` 

.. _SafetyFunctionsCommonSafetyFunction:

.. py:class:: SafetyFunction

    Reference to a specific safety function

   :canonical: kortex_api.autogen.messages.SafetyFunctionsCommon_pb2.SafetyFunction

   :param safety_function_type:   Safety function type
   :type safety_function_type: :ref:`SafetyFunctionType <SafetyFunctionsCommonSafetyFunctionType>` 

.. _SafetyFunctionsCommonSafetyFunctionsStatus:

.. py:class:: SafetyFunctionsStatus

    Reference to a safety function status type

   :canonical: kortex_api.autogen.messages.SafetyFunctionsCommon_pb2.SafetyFunctionsStatus

   :param safety_functions_status:   Safety function status (bitmask)
   :type safety_functions_status: :ref:`SafetyFunctionsStatusType <SafetyFunctionsCommonSafetyFunctionsStatusType>` 

   :param safety_function_triggered_details:   Additional details
   :type safety_function_triggered_details: :ref:`TriggeredSafetyFunctionDetails <SafetyFunctionsCommonTriggeredSafetyFunctionDetails>` [ ]

.. _SafetyFunctionsCommonProtectiveStopStatus:

.. py:class:: ProtectiveStopStatus

    Reference to a protective stop status type

   :canonical: kortex_api.autogen.messages.SafetyFunctionsCommon_pb2.ProtectiveStopStatus

   :param protective_stop_status:   Protective stop status (bitmask)
   :type protective_stop_status: :ref:`ProtectiveStopStatusType <SafetyFunctionsCommonProtectiveStopStatusType>` 

.. _SafetyFunctionsCommonSafetyFunctionChangeNotification:

.. py:class:: SafetyFunctionChangeNotification

    Notification about a safety function change event

   :canonical: kortex_api.autogen.messages.SafetyFunctionsCommon_pb2.SafetyFunctionChangeNotification

   :param event:   Event triggered
   :type event: :ref:`SafetyFunctionChangeEvent <SafetyFunctionsCommonSafetyFunctionChangeEvent>` 

   :param timestamp:   This field is deprecated and will be removed in a future release
   :type timestamp: :ref:`Timestamp <CommonTimestamp>` 

   :param user_handle:   This field is deprecated and will be removed in a future release
   :type user_handle: :ref:`UserProfileHandle <CommonUserProfileHandle>` 

   :param generic_info:   Generic notification information
   :type generic_info: :ref:`NotificationInformation <CommonNotificationInformation>` 

.. _SafetyFunctionsCommonSafetyModeChangeNotification:

.. py:class:: SafetyModeChangeNotification

    Notification about a safety mode change event

   :canonical: kortex_api.autogen.messages.SafetyFunctionsCommon_pb2.SafetyModeChangeNotification

   :param old_mode:   Old safety mode
   :type old_mode: :ref:`SafetySystemMode <SafetyFunctionsCommonSafetySystemMode>` 

   :param new_mode:   New safety mode
   :type new_mode: :ref:`SafetySystemMode <SafetyFunctionsCommonSafetySystemMode>` 

   :param timestamp:   This field is deprecated and will be removed in a future release
   :type timestamp: :ref:`Timestamp <CommonTimestamp>` 

   :param user_handle:   This field is deprecated and will be removed in a future release
   :type user_handle: :ref:`UserProfileHandle <CommonUserProfileHandle>` 

   :param generic_info:   Generic notification information
   :type generic_info: :ref:`NotificationInformation <CommonNotificationInformation>` 

.. _SafetyFunctionsCommonProtectiveStopChangeNotification:

.. py:class:: ProtectiveStopChangeNotification

    Notification about a protective stop change event

   :canonical: kortex_api.autogen.messages.SafetyFunctionsCommon_pb2.ProtectiveStopChangeNotification

   :param protective_stop_status:   Protective stop status
   :type protective_stop_status: :ref:`ProtectiveStopStatusType <SafetyFunctionsCommonProtectiveStopStatusType>` 

   :param timestamp:   This field is deprecated and will be removed in a future release
   :type timestamp: :ref:`Timestamp <CommonTimestamp>` 

   :param user_handle:   This field is deprecated and will be removed in a future release
   :type user_handle: :ref:`UserProfileHandle <CommonUserProfileHandle>` 

   :param generic_info:   Generic notification information
   :type generic_info: :ref:`NotificationInformation <CommonNotificationInformation>` 

.. _SafetyFunctionsCommonTriggeredSafetyFunctionDetails:

.. py:class:: TriggeredSafetyFunctionDetails

    Safety function additional details

   :canonical: kortex_api.autogen.messages.SafetyFunctionsCommon_pb2.TriggeredSafetyFunctionDetails

   :param JointPositionSafetyFunctionDetails joint_position_details:   Triggered joint position safety function details (SF03). Part of the ``safety_function_details`` `Oneof <https://developers.google.com/protocol-buffers/docs/reference/python-generated#oneof>`_.

   :param JointSpeedSafetyFunctionDetails joint_speed_details:   Triggered joint speed safety function details (SF04). Part of the ``safety_function_details`` `Oneof <https://developers.google.com/protocol-buffers/docs/reference/python-generated#oneof>`_.

   :param TcpElbowSpeedSafetyFunctionDetails tcp_elbow_speed_details:   Triggered TCP elbow speed details (SF07). Part of the ``safety_function_details`` `Oneof <https://developers.google.com/protocol-buffers/docs/reference/python-generated#oneof>`_.

.. _SafetyFunctionsCommonJointPositionSafetyFunctionDetails:

.. py:class:: JointPositionSafetyFunctionDetails

    Joint position safety function additional details (SF03) 

   :canonical: kortex_api.autogen.messages.SafetyFunctionsCommon_pb2.JointPositionSafetyFunctionDetails

   :param joint_id:   Joint id
   :type joint_id: :ref:`int <>` 

   :param joint_position:   Joint position (degrees)
   :type joint_position: :ref:`float <>` 

.. _SafetyFunctionsCommonJointSpeedSafetyFunctionDetails:

.. py:class:: JointSpeedSafetyFunctionDetails

    Joint speed safety function additional details (SF04) 

   :canonical: kortex_api.autogen.messages.SafetyFunctionsCommon_pb2.JointSpeedSafetyFunctionDetails

   :param joint_id:   Joint id
   :type joint_id: :ref:`int <>` 

   :param joint_speed:   Joint Speed (degrees/s)
   :type joint_speed: :ref:`float <>` 

.. _SafetyFunctionsCommonTcpElbowSpeedSafetyFunctionDetails:

.. py:class:: TcpElbowSpeedSafetyFunctionDetails

    TCP/Elbow speed safety function additional details (SF07) 

   :canonical: kortex_api.autogen.messages.SafetyFunctionsCommon_pb2.TcpElbowSpeedSafetyFunctionDetails

   :param type:   TCP or Elbow type that triggered the safety function 
   :type type: :ref:`TcpElbowSafetyFunctionType <SafetyFunctionsCommonTcpElbowSafetyFunctionType>` 

   :param speed:   Speed that triggered the safety function (m/s)
   :type speed: :ref:`float <>`