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Structure

Code Block
{topic: ToggleMonitorFaults, data: {speed_scaling_factor: <value>}

Argument Description

speed_scaling_factor

Status
colourYellow
titleoptional
: The scaling factor to limit all active robots' speed. If not specified, the default value is 0.1.

Function Description

This command toggles whether monitor faults cause the controller to fault and sets the scaling factor for all active robots' motions. The default values is 0.1. Valid values are between 0.001 and 1.0. Use 1.0 to enable the entire range of speeds. These values are percentages, for instance, 0.1 is 10%.

Response Details

Whether the command was successful in toggling the flag allowing monitor failures to cause controller faults along with the new value of speed scaling factor that was set for the system speed limit.

Example Request

Code Block
{topic : ToggleMonitorFaults, data : { speed_scaling_factor : 0.1}}

Example YAML Response

Code Block
// Succesfully executed
{topic: ToggleMonitorFaults, type: Response, data: {}}

Example CSV Response

Code Block
// Successfully executed
ToggleMonitorFaults,0

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