flexiv::rdk::Safety Class Reference

Interface to manage safety settings of the robot. 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] Instantiate the safety settings interface. More...
SafetyLimits	default_limits () const
	[Non-blocking] Default values of the safety limits of the connected robot. More...
SafetyLimits	current_limits () const
	[Non-blocking] Current values of the safety limits of the connected robot. More...
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 safety limits on the joint positions of the manipulator, which will honor this setting when making movements. More...
void	SetJointVelocityNormalLimits (const std::vector< double > &max_velocities)
	[Blocking] Set safety limits on the joint velocities of the manipulator, which will honor this setting when making movements under the normal state. More...
void	SetJointVelocityReducedLimits (const std::vector< double > &max_velocities)
	[Blocking] Set safety limits on the joint velocities of the manipulator, which will honor this setting when making movements under the reduced state. More...

Detailed Description

Interface to manage safety settings of the robot. A password is required to authenticate this interface.

Note

Only the manipulator has safety settings, the external axes do not.

Definition at line 47 of file safety.hpp.

Constructor & Destructor Documentation

Safety()

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

[Non-blocking] Instantiate the safety settings 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()

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()

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()

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 safety limits on the joint positions of the manipulator, 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 manipulator 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. After reboot, make sure to use current_limits() to double check the updated safety limits are correct.

SetJointVelocityNormalLimits()

void flexiv::rdk::Safety::SetJointVelocityNormalLimits

(

const std::vector< double > &

max_velocities

)

[Blocking] Set safety limits on the joint velocities of the manipulator, 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 manipulator 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. After reboot, make sure to use current_limits() to double check the updated safety limits are correct.

SetJointVelocityReducedLimits()

void flexiv::rdk::Safety::SetJointVelocityReducedLimits

(

const std::vector< double > &

max_velocities

)

[Blocking] Set safety limits on the joint velocities of the manipulator, 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 manipulator 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. After reboot, make sure to use current_limits() to double check the updated safety limits are correct.

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

• include/flexiv/rdk/safety.hpp