GetIoSim#

This instantaneous command returns the state of the simulation of the MVK01 vacuum and I/O module set by the command SetIoSim (or the default one).

Syntax#

GetIoSim(bid)

Arguments#

  • bid: I/O bank ID, should be 1.

Responses#

  • [2056][bid, e]

    • bid: I/O bank ID, should be 1;

    • e: status of the simulation mode (1 if enabled, 0 if disabled).

Usage restrictions#

This command can be executed in any robot state.

Cyclic protocols#

In cyclic protocols, the command GetIoSim is represented by the simMode bit from DynamicDataTypeID 72. See Section 4.4.6 for more details.