Safety Parameters

Description: Safety parameters.

Set Safety Parameters (Host computer → Controller)

Command: 0x1400

Parameter	Type	Description
J1 Max	double	J1 axis maximum positive angle, radians
J1 Min	double	J1 axis maximum negative angle, radians
J2 Max	double	J2 axis maximum positive angle, radians
J2 Min	double	J2 axis maximum negative angle, radians
J3 Max	double	J3 axis maximum positive angle, radians
J3 Min	double	J3 axis maximum negative angle, radians
J4 Max	double	J4 axis maximum positive angle, radians
J4 Min	double	J4 axis maximum negative angle, radians
J5 Max	double	J5 axis maximum positive angle, radians
J5 Min	double	J5 axis maximum negative angle, radians
J6 Max	double	J6 axis maximum positive angle, radians
J6 Min	double	J6 axis maximum negative angle, radians
robot	int	Robot number, range [1, 4]

Example:

{
  "J1 Max": 3.14,
  "J1 Min": -3.14,
  "J2 Max": 3.14,
  "J2 Min": -3.14,
  "J3 Max": 3.14,
  "J3 Min": -3.14,
  "J4 Max": 3.14,
  "J4 Min": -3.14,
  "J5 Max": 3.14,
  "J5 Min": -3.14,
  "J6 Max": 3.14,
  "J6 Min": -3.14,
  "robot": 1
}

Query Safety Parameters (Host computer → Controller)

Command: 0x1401

Parameter	Type	Description
robot	int	Robot number, range [1, 4]

Example:

{
  "robot": 1
}

Safety Parameters Reply (Controller → Host computer)

Command: 0x1402

Parameter	Type	Description
J1 Max	double	J1 axis maximum positive angle, radians
J1 Min	double	J1 axis maximum negative angle, radians
J2 Max	double	J2 axis maximum positive angle, radians
J2 Min	double	J2 axis maximum negative angle, radians
J3 Max	double	J3 axis maximum positive angle, radians
J3 Min	double	J3 axis maximum negative angle, radians
J4 Max	double	J4 axis maximum positive angle, radians
J4 Min	double	J4 axis maximum negative angle, radians
J5 Max	double	J5 axis maximum positive angle, radians
J5 Min	double	J5 axis maximum negative angle, radians
J6 Max	double	J6 axis maximum positive angle, radians
J6 Min	double	J6 axis maximum negative angle, radians
robot	int	Robot number, range [1, 4]

Example:

{
  "J1 Max": 3.14,
  "J1 Min": -3.14,
  "J2 Max": 3.14,
  "J2 Min": -3.14,
  "J3 Max": 3.14,
  "J3 Min": -3.14,
  "J4 Max": 3.14,
  "J4 Min": -3.14,
  "J5 Max": 3.14,
  "J5 Min": -3.14,
  "J6 Max": 3.14,
  "J6 Min": -3.14,
  "robot": 1
}