GetRtIoStatus#

This instantaneous command returns the status of the MVK01 vacuum and I/O module.

Syntax#

GetRtIoStatus(bid)

Arguments#

  • bid: I/O bank ID, currently 1

Responses#

  • [2330][t, bid, present, simMode, errorCode]

    • t: timestamp in microseconds;

    • bid: I/O bank ID, currently 1 (for MVK01);

    • present: 1 if the MVK01 module has been detected, 0 if otherwise;

    • simMode: state (1 for enabled, 0 for disabled) of the MVK01 simulation mode (see SetIoSim);

    • errorCode: error code (0 if no error). Not currently used.

Usage restrictions#

This command can be executed in any robot state.

Cyclic protocols#

In cyclic protocols, the command GetRtIoStatus is represented by DynamicDataTypeID 72. See Section 4.4.6 for more details.