SafetyFunctionsToolCenterPoint

class TcpInfo

Tool center point information

Canonical

kortex_api.autogen.messages.SafetyFunctionsToolCenterPoint_pb2.TcpInfo

Parameters

• mode (SafetySystemMode) – Safety system mode (normal or reduced)

• with_margin (bool) – True for limits adapted with margins

class TcpOrientation

Tool center point orientation

Canonical

kortex_api.autogen.messages.SafetyFunctionsToolCenterPoint_pb2.TcpOrientation

Parameters

• x (float) – X-axis position in degrees (°)

• y (float) – Y-axis position in degrees (°)

• z (float) – Z-axis position in degrees (°)

class TcpSpeedLimits

Tool center point speed limits

Canonical

kortex_api.autogen.messages.SafetyFunctionsToolCenterPoint_pb2.TcpSpeedLimits

Parameters

• info (TcpInfo) – Tool center point information

• translation_limit (float) – Tool center point translation speed limit in meters/second (m/s)

• orientation_limit (float) – Tool center point orientation speed limit in degrees/second (°/s)

class TcpForceLimit

Tool center point force limit

Canonical

kortex_api.autogen.messages.SafetyFunctionsToolCenterPoint_pb2.TcpForceLimit

Parameters

• info (TcpInfo) – Tool center point information

• limit (float) – Tool center point force limit in newtons (N)

class TcpOrientationLimits

Tool center point orientation limits

Canonical

kortex_api.autogen.messages.SafetyFunctionsToolCenterPoint_pb2.TcpOrientationLimits

Parameters

• info (TcpInfo) – Tool center point information

• upper_limit (TcpOrientation) – Tool center point orientation upper limit

• lower_limit (TcpOrientation) – Tool center point orientation lower limit

class TcpSpeedLimitsList

Array of tool center point speed limits (for each safety system mode)

Canonical

kortex_api.autogen.messages.SafetyFunctionsToolCenterPoint_pb2.TcpSpeedLimitsList

Parameters

tcp_speed_limits (TcpSpeedLimits [ ]) – List of tool center point speed limits (for each safety system mode)

class TcpForceLimitList

Array of tool center point force limit (for each safety system mode)

Canonical

kortex_api.autogen.messages.SafetyFunctionsToolCenterPoint_pb2.TcpForceLimitList

Parameters

tcp_force_limit (TcpForceLimit [ ]) – List of tool center point force limit (for each safety system mode)

class TcpOrientationLimitsList

Array of tool center point orientation limits (for each safety system mode)

Canonical

kortex_api.autogen.messages.SafetyFunctionsToolCenterPoint_pb2.TcpOrientationLimitsList

Parameters

tcp_orientation_limits (TcpOrientationLimits [ ]) – List of tool center point orientation limits (for each safety system mode)