MATLAB File Help: SafetyParamsStruct
SafetyParamsStruct
  SafetyParamsStruct can be used to set safety parameters of groups
 
    The struct created by this function can be used to set a variety of
    safety limits and strategy parameters on a group of modules.
 
    Empty entries in the struct and NaNs for any individual values in
    safety parameters are ignored, i.e., any existing setting on the
    device for that parameter will remain unmodified.
 
    Example (manually setting safety limits):
        limits = SafetyParamsStruct()
        limits.positionMinLimit = [-pi -pi];
        limits.positionMaxLimit = [+pi +pi];
        group.send('SafetyParams', limits);
 
    The 'mStopStrategy' and 'positionLimitStrategy' fields represent
    enumerated values with the meaning below:
 
    'mStopStrategy'
        nan = Unknown
         0  = Disabled
         1  = Motor Off
         2  = Motor Hold
 
    'positionLimitStrategy'
        nan = Unknown
         0  = Disabled
         1  = Motor Off
         2  = Hold Position
         3  = Damped Spring
See also