GetConf#

This command returns the desired posture configuration (see Section 2.2.1), or more precisely, the posture configuration that will be applied to the next MovePose or MoveLin* command in the motion queue. This configuration is either explicitly specified using the SetConf command or automatically assigned when the SetAutoConf(0) command is executed.

Syntax#

GetConf()

Responses#

  • [2029][ce]

    • ce: elbow configuration parameter, either -1 or 1†.

† If automatic posture configuration selection is enabled, the value is an asterisk, i.e., the response is [2029][*].

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 GetConf is represented by DynamicDataTypeID 20. See Section 4.4.6 for more details.