GetMoveJumpHeight

This command returns the different height parameters for the MoveJump command, set with the SetMoveJumpHeight command.

Syntax

GetMoveJumpHeight()

Responses

• [2174][h_start, h_end, h_min, h_max]

  • h_start: height from start pose to reach using a pure vertical translation, before the lateral motion begins, in mm;

  • h_end: height from end pose from where to begin the final pure vertical translation, in mm;

  • h_min: minimum height to reach while performing the lateral motion, with respect to the highest (if h_start and h_end are positive) or lowest (if h_start and h_end are negative) between the start and end poses, in mm;

  • h_max: maximum height allowed to reach while performing the lateral motion, with respect to the highest (if h_start and h_end are positive) or lowest (if h_start and h_end are negative) between the start and end poses, in mm.

Usage restrictions

This command can only be executed when the robot is ready for motion. Otherwise, the robot will report one of the following:

• [1005][The robot is not activated.]

Cyclic protocols

In cyclic protocols, the commands GetMoveJumpHeight is represented by DynamicDataTypeID 27. See Section 3.4.6 for more details.