GetJointAcc

This command returns the desired joint accelerations reduction factor, set using the SetJointAcc command.

Syntax

GetJointAcc()

Responses

• [2153][p]

  • p: percentage of maximum acceleration of the joints, from 0.001 to 100.

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