flexiv::rdk::Safety Class Reference

Interface to change robot safety settings. The robot must be in IDLE mode when applying any changes. A password is required to authenticate this interface. More...

#include <safety.hpp>

Public Member Functions
	Safety (const Robot &robot, const std::string &password)
	[Non-blocking] Create an instance and initialize the interface. More...
const SafetyLimits	default_limits () const
	[Non-blocking] Default values of the safety limits of the connected robot. More...
const SafetyLimits	current_limits () const
	[Non-blocking] Current values of the safety limits of the connected robot. More...
const std::array< bool, kSafetyIOPorts >	safety_inputs () const
	[Non-blocking] Current reading from all safety input ports. More...
void	SetJointPositionLimits (const std::vector< double > &min_positions, const std::vector< double > &max_positions)
	[Blocking] Set new joint position safety limits to the connected robot, which will honor this setting when making movements. More...
void	SetJointVelocityNormalLimits (const std::vector< double > &max_velocities)
	[Blocking] Set new joint velocity safety limits to the connected robot, which will honor this setting when making movements under the normal state. More...
void	SetJointVelocityReducedLimits (const std::vector< double > &max_velocities)
	[Blocking] Set new joint velocity safety limits to the connected robot, which will honor this setting when making movements under the reduced state. More...

Detailed Description

Interface to change robot safety settings. The robot must be in IDLE mode when applying any changes. A password is required to authenticate this interface.

Definition at line 46 of file safety.hpp.

Constructor & Destructor Documentation

Safety()

flexiv::rdk::Safety::Safety	(	const Robot &	robot,
		const std::string &	password
	)

[Non-blocking] Create an instance and initialize the interface.

Parameters

[in]	robot	Reference to the instance of flexiv::rdk::Robot.
[in]	password	Password to authorize making changes to the robot's safety settings.

Exceptions

std::invalid_argument	if the provided password is incorrect.
std::runtime_error	if the initialization sequence failed.

Member Function Documentation

current_limits()

const SafetyLimits flexiv::rdk::Safety::current_limits

(

)

const

[Non-blocking] Current values of the safety limits of the connected robot.

Returns

SafetyLimits value copy.

default_limits()

const SafetyLimits flexiv::rdk::Safety::default_limits

(

)

const

[Non-blocking] Default values of the safety limits of the connected robot.

Returns

SafetyLimits value copy.

safety_inputs()

const std::array<bool, kSafetyIOPorts> flexiv::rdk::Safety::safety_inputs

(

)

const

[Non-blocking] Current reading from all safety input ports.

Returns

A boolean array whose index corresponds to that of the safety input ports. True: port high; false: port low.

SetJointPositionLimits()

void flexiv::rdk::Safety::SetJointPositionLimits	(	const std::vector< double > &	min_positions,
		const std::vector< double > &	max_positions
	)

[Blocking] Set new joint position safety limits to the connected robot, which will honor this setting when making movements.

Parameters

[in]	min_positions	Minimum joint positions: \( q_min \in \mathbb{R}^{n \times 1} \). Valid range: [default_min_joint_positions, default_max_joint_positions]. Unit: \( [rad] \).
[in]	max_positions	Maximum joint positions: \( q_max \in \mathbb{R}^{n \times 1} \). Valid range: [default_min_joint_positions, default_max_joint_positions]. Unit: \( [rad] \).

Exceptions

std::invalid_argument	if [min_positions] or [max_positions] contains any value outside the valid range, or size of any input vector does not match robot DoF.
std::logic_error	if robot is not in the correct control mode.
std::runtime_error	if failed to deliver the request to the connected robot.

Note

Applicable control modes: IDLE.

This function blocks until the request is successfully delivered.

Warning

A reboot is required for the updated safety settings to take effect.

SetJointVelocityNormalLimits()

void flexiv::rdk::Safety::SetJointVelocityNormalLimits

(

const std::vector< double > &

max_velocities

)

[Blocking] Set new joint velocity safety limits to the connected robot, which will honor this setting when making movements under the normal state.

Parameters

[in]

max_velocities

Maximum joint velocities for normal state: \( dq_max \in \mathbb{R}^{n \times 1} \). Valid range: [0.8727, joint_velocity_normal_limits]. Unit: \( [rad/s] \).

Exceptions

std::invalid_argument	if [max_velocities] contains any value outside the valid range, or its size does not match robot DoF.
std::logic_error	if robot is not in the correct control mode.
std::runtime_error	if failed to deliver the request to the connected robot.

Note

Applicable control modes: IDLE.

This function blocks until the request is successfully delivered.

Warning

A reboot is required for the updated safety settings to take effect.

SetJointVelocityReducedLimits()

void flexiv::rdk::Safety::SetJointVelocityReducedLimits

(

const std::vector< double > &

max_velocities

)

[Blocking] Set new joint velocity safety limits to the connected robot, which will honor this setting when making movements under the reduced state.

Parameters

[in]

max_velocities

Maximum joint velocities for reduced state: \( dq_max \in \mathbb{R}^{n \times 1} \). Valid range: [0.8727, joint_velocity_normal_limits]. Unit: \( [rad/s] \).

Exceptions

std::invalid_argument	if [max_velocities] contains any value outside the valid range, or its size does not match robot DoF.
std::logic_error	if robot is not in the correct control mode.
std::runtime_error	if failed to deliver the request to the connected robot.

Note

Applicable control modes: IDLE.

This function blocks until the request is successfully delivered.

Warning

A reboot is required for the updated safety settings to take effect.

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The documentation for this class was generated from the following file:

• include/flexiv/rdk/safety.hpp