GetRtVacuumState#

This instantaneous command returns the current state of the pneumatic part of the MVK01 vacuum and I/O module.

Syntax#

GetRtVacuumState()

Responses#

  • [2342][t, v, h, p]

    • t: timestamp in microseconds;

    • v: state of vacuum generation (1 if vacuum is being generated, 0 if not);

    • p: state of air purge (1 if air is being purged in order to quickly release a part, 0 if not);

    • h: state of holding part (1 if vacuum is being generated and a part is being held, 0 if not).

Usage restrictions#

This command can be executed in any robot state.

Cyclic protocols#

In cyclic protocols, the command GetRtVacuumState is represented by DynamicDataTypeID 73. See Section 4.4.6 for more details.