SafetyFunctionsCommon

class SafetySystemMode

Safety System mode

Canonical

kortex_api.autogen.messages.SafetyFunctionsCommon_pb2.SafetySystemMode

SAFETY_SYSTEM_MODE_UNSPECIFIED (0):   Unspecified mode

SAFETY_SYSTEM_MODE_NORMAL (1):   Normal mode

SAFETY_SYSTEM_MODE_REDUCED (2):   Reduced mode

class SafetyFunctionType

Safety function type

Canonical

kortex_api.autogen.messages.SafetyFunctionsCommon_pb2.SafetyFunctionType

SAFETY_FUNCTION_TYPE_UNSPECIFIED (0):   Unspecified type

SAFETY_FUNCTION_TYPE_JOINT_POSITION (1):   Joint position type

SAFETY_FUNCTION_TYPE_JOINT_SPEED (2):   Joint speed type

SAFETY_FUNCTION_TYPE_PROTECTION_ZONE (3):   Protection zone type

SAFETY_FUNCTION_TYPE_TCP_ELBOW_SPEED (4):   Tool center point and elbow speed type

SAFETY_FUNCTION_TYPE_TCP_ORIENTATION (5):   Tool center point orientation type

SAFETY_FUNCTION_TYPE_TCP_ELBOW_FORCE (6):   Tool center point and elbow force type

class SafetyFunctionsStatusType

Safety functions status

Canonical

kortex_api.autogen.messages.SafetyFunctionsCommon_pb2.SafetyFunctionsStatusType

SAFETY_FUNCTION_STATUS_UNSPECIFIED (0):   0x0 - Unspecified status

SAFETY_FUNCTION_STATUS_UNDER_MONITORING (1):   0x1 - Safety functions are under monitoring

SAFETY_FUNCTION_STATUS_EMERGENCY_STOP_TRIGGERED (2):   0x2 - Emergengy stop safety function triggered

SAFETY_FUNCTION_STATUS_PROTECTIVE_STOP_TRIGGERED (4):   0x4 - Protective stop safety function triggered

SAFETY_FUNCTION_STATUS_JOINT_POSITION_MONITORING_TRIGGERED (8):   0x8 - Joint position monitoring safety function triggered

SAFETY_FUNCTION_STATUS_JOINT_SPEED_MONITORING_TRIGGERED (16):   0x10 - Joint speed monitoring safety function triggered

SAFETY_FUNCTION_STATUS_MONITORED_STOP_TRIGGERED (32):   0x20 - Monitored stop safety function triggered

SAFETY_FUNCTION_STATUS_PROTECTION_ZONE_MONITORING_TRIGGERED (64):   0x40 - Protection zone monitoring safety function triggered

SAFETY_FUNCTION_STATUS_TCP_ELBOW_SPEED_MONITORING_TRIGGERED (128):   0x80 - TCP & elbow speed monitoring safety function triggered

SAFETY_FUNCTION_STATUS_TCP_ORIENTATION_MONITORING_TRIGGERED (256):   0x100 - TCP orientation monitoring safety function triggered

SAFETY_FUNCTION_STATUS_TCP_ELBOW_FORCE_MONITORING_TRIGGERED (512):   0x200 - TCP & elbow force monitoring safety function triggered

class SafetyFunctionChangeEvent

Safety Function Change event

Canonical

kortex_api.autogen.messages.SafetyFunctionsCommon_pb2.SafetyFunctionChangeEvent

SAFETY_FUNCTION_CHANGE_EVENT_UNSPECIFIED (0):   Unspecified change event

SAFETY_FUNCTION_CHANGE_EVENT_JOINT_POSITION_LIMITS (1):   Joint position limits change event

SAFETY_FUNCTION_CHANGE_EVENT_JOINT_SPEED_LIMITS (2):   Joint speed limits change event

SAFETY_FUNCTION_CHANGE_EVENT_PROTECTION_ZONE_LIMITS (3):   Protection zone limits change event

SAFETY_FUNCTION_CHANGE_EVENT_TCP_SPEED_LIMITS (4):   Tool center point speed limits change event

SAFETY_FUNCTION_CHANGE_EVENT_ELBOW_SPEED_LIMITS (5):   Elbow speed limits change event

SAFETY_FUNCTION_CHANGE_EVENT_TCP_ORIENTATION_LIMITS (6):   Tool center point orientation limits change event

SAFETY_FUNCTION_CHANGE_EVENT_TCP_FORCE_LIMITS (7):   Tool center point force limits change event

SAFETY_FUNCTION_CHANGE_EVENT_ELBOW_FORCE_LIMITS (8):   Elbow force limits change event

SAFETY_FUNCTION_CHANGE_EVENT_STATUS (9):   Safety function status change event

class ProtectiveStopStatusType

Protective Stop Status type (bitmask)

Canonical

kortex_api.autogen.messages.SafetyFunctionsCommon_pb2.ProtectiveStopStatusType

PROTECTIVE_STOP_STATUS_NOT_TRIGGERED (0):   0x0 - Protective stop not triggered

PROTECTIVE_STOP_STATUS_AUTOMATIC_TRIGGERED (1):   0x1 - Protective stop automatic triggered

PROTECTIVE_STOP_STATUS_MANUAL_TRIGGERED (2):   0x2 - Protective stop manual triggered

class TcpElbowSafetyFunctionType

TCP/Elbow speed safety function element type

Canonical

kortex_api.autogen.messages.SafetyFunctionsCommon_pb2.TcpElbowSafetyFunctionType

TCP_ELBOW_SAFETY_FUNCTION_TYPE_UNSPECIFIED (0):   Unspecified element type

TCP_ELBOW_SAFETY_FUNCTION_TYPE_ELBOW (1):   Elbow speed limit reached

TCP_ELBOW_SAFETY_FUNCTION_TYPE_TCP (2):   TCP speed limit reached