GetVacuumThreshold

This instantaneous command returns the current pressure thresholds (negative values) for the MVK01 vacuum and I/O module set by the command SetVacuumThreshold (or the default ones).

Syntax

GetVacuumThreshold()

Responses

• [2172][p_h, p_r]

  • p_h: threshold pressure below which the robot considers that a part is held, in kPa;

  • p_r: threshold pressure above which the robot considers that a part is no longer held, in kPa.

Usage restrictions

This command can be executed in any robot state.

Cyclic protocols

In cyclic protocols, the commands GetVacuumThreshold is represented by DynamicDataTypeID 26. See Section 4.4.6 for more details.