SafetyFunctionsCommon

class SafetySystem

Reference to a safety system mode

Canonical

kortex_api.autogen.messages.SafetyFunctionsCommon_pb2.SafetySystem

Parameters

mode (SafetySystemMode) – Safety system mode

class SafetyFunction

Reference to a specific safety function

Canonical

kortex_api.autogen.messages.SafetyFunctionsCommon_pb2.SafetyFunction

Parameters

safety_function_type (SafetyFunctionType) – Safety function type

class SafetyFunctionsStatus

Reference to a safety function status type

Canonical

kortex_api.autogen.messages.SafetyFunctionsCommon_pb2.SafetyFunctionsStatus

Parameters

• safety_functions_status (SafetyFunctionsStatusType) – Safety function status (bitmask)

• safety_function_triggered_details (TriggeredSafetyFunctionDetails [ ]) – Additional details

class ProtectiveStopStatus

Reference to a protective stop status type

Canonical

kortex_api.autogen.messages.SafetyFunctionsCommon_pb2.ProtectiveStopStatus

Parameters

protective_stop_status (ProtectiveStopStatusType) – Protective stop status (bitmask)

class SafetyFunctionChangeNotification

Notification about a safety function change event

Canonical

kortex_api.autogen.messages.SafetyFunctionsCommon_pb2.SafetyFunctionChangeNotification

Parameters

• event (SafetyFunctionChangeEvent) – Event triggered

• timestamp (Timestamp) – This field is deprecated and will be removed in a future release

• user_handle (UserProfileHandle) – This field is deprecated and will be removed in a future release

• generic_info (NotificationInformation) – Generic notification information

class SafetyModeChangeNotification

Notification about a safety mode change event

Canonical

kortex_api.autogen.messages.SafetyFunctionsCommon_pb2.SafetyModeChangeNotification

Parameters

• old_mode (SafetySystemMode) – Old safety mode

• new_mode (SafetySystemMode) – New safety mode

• timestamp (Timestamp) – This field is deprecated and will be removed in a future release

• user_handle (UserProfileHandle) – This field is deprecated and will be removed in a future release

• generic_info (NotificationInformation) – Generic notification information

class ProtectiveStopChangeNotification

Notification about a protective stop change event

Canonical

kortex_api.autogen.messages.SafetyFunctionsCommon_pb2.ProtectiveStopChangeNotification

Parameters

• protective_stop_status (ProtectiveStopStatusType) – Protective stop status

• timestamp (Timestamp) – This field is deprecated and will be removed in a future release

• user_handle (UserProfileHandle) – This field is deprecated and will be removed in a future release

• generic_info (NotificationInformation) – Generic notification information

class TriggeredSafetyFunctionDetails

Safety function additional details

Canonical

kortex_api.autogen.messages.SafetyFunctionsCommon_pb2.TriggeredSafetyFunctionDetails

Parameters

• joint_position_details (JointPositionSafetyFunctionDetails) – Triggered joint position safety function details (SF03). Part of the safety_function_details Oneof.

• joint_speed_details (JointSpeedSafetyFunctionDetails) –

  Triggered joint speed safety function details (SF04). Part of the safety_function_details Oneof.

• tcp_elbow_speed_details (TcpElbowSpeedSafetyFunctionDetails) –

  Triggered TCP elbow speed details (SF07). Part of the safety_function_details Oneof.

class JointPositionSafetyFunctionDetails

Joint position safety function additional details (SF03)

Canonical

kortex_api.autogen.messages.SafetyFunctionsCommon_pb2.JointPositionSafetyFunctionDetails

Parameters

• joint_id (int) – Joint id

• joint_position (float) – Joint position (degrees)

class JointSpeedSafetyFunctionDetails

Joint speed safety function additional details (SF04)

Canonical

kortex_api.autogen.messages.SafetyFunctionsCommon_pb2.JointSpeedSafetyFunctionDetails

Parameters

• joint_id (int) – Joint id

• joint_speed (float) – Joint Speed (degrees/s)

class TcpElbowSpeedSafetyFunctionDetails

TCP/Elbow speed safety function additional details (SF07)

Canonical

kortex_api.autogen.messages.SafetyFunctionsCommon_pb2.TcpElbowSpeedSafetyFunctionDetails

Parameters

• type (TcpElbowSafetyFunctionType) – TCP or Elbow type that triggered the safety function

• speed (float) – Speed that triggered the safety function (m/s)