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Safe Skin

Command List​

Safe skin commands are used to set the functionality related to safe skin.

CommandFunction
EnableSafeSkinSafe skin switch
SetSafeSkinSet the sensitivity of various safe skin parts

EnableSafeSkin​

Prototype:

EnableSafeSkin(ON|OFF)

Description:

This command acts as a switch for the safe skin.

Required Parameters:

  • ON|OFF: ON means to enable safe skin, OFF means to disable safe skin.

Returns:

  • 0: Safe skin not detected
  • 1: Safe skin detected

Example:

-- Enable safe skin.
EnableSafeSkin(ON)

SetSafeSkin​

Prototype:

SetSafeSkin(part, status)

Description:

Sets the sensitivity of various safe skin parts.

Required Parameters:

  • part: The part to be set, valid range is 3 to 6
    • 3: Forearm
    • 4: J4 joint
    • 5: J5 joint
    • 6: J6 joint
  • status: The sensitivity to be set, valid range is 0 to 3
    • 0: Off
    • 1: Low sensitivity (approach distance ≤ 5 cm)
    • 2: Medium sensitivity (approach distance ≤ 10 cm)
    • 3: High sensitivity (approach distance ≤ 15 cm)

Example:

-- Set the sensitivity of the safe skin on the forearm to off.
SetSafeSkin(3, 0)