GetCartAcc#

This command returns the desired limit for the acceleration of the Tool Reference Frame (TRF) relative to the World Reference Frame (WRF), set using the SetCartAcc command.

Syntax#

GetCartAcc()

Responses#

  • [2156][p]

    • p: percentage of maximum acceleration of the TRF, ranging from 0.001 to 600.

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 command GetCartAcc is represented by DynamicDataTypeID 22. See Section 4.4.6 for more details.