GetJointLimits#

This command returns the current effective joint limits, i.e., the default joint limits or the user-defined limits if applied using the SetJointLimits command and enabled using the SetJointLimitsCfg command.

Syntax#

GetJointLimits(n)

Arguments#

  • n: joint number, an integer.

Responses#

  • [2090][n, qn,min, qn,max]

    • n: joint number, an integer;

    • qn,min: lower joint limit, in degrees (for joints 1, 2, and 4) or in mm (for joint 3);

    • qn,max: upper joint limit, in degrees (for joints 1, 2, and 4) or in mm (for joint 3).

Usage restrictions#

This command can be executed in any robot state.

Cyclic protocols#

In cyclic protocols, the command GetJointLimits is represented by DynamicDataTypeID 14 and 15. See Section 4.4.6 for more details.