Documentation on safeguards

Technical Questions
1

Is there any script documentation on how the safeguards actually work. If so, where can I find it.

2

Hi @chenj102,
You will reach all information about safeguards etc. inside the user manual. You can find it at the download section.

WG

3

Hi,

Thank you for your response! I was also wondering the difference between a safeguard stop and is_within_safety_limits. From my understanding, is_within_safety_limits calculates whether an end position is within a safety zone and will not trigger the move if it is. This means that the arm will not even move to be able to trigger a safeguard stop. Could you correct my understanding of this.

Thanks

4

Hi @chenj102 ,
The is_within_safety_limits() script function is not a safety function like safeguard stop.

The is_within_safety_limits() function takes the position and qnear vector in the argument and returns whether that position is reachable given the safety limits and returns True or False. Nevertheless, it is only information, not functionality.

Best,
WG