GetModelJointLimits#

This command returns the factory default joint limits.

Syntax#

GetModelJointLimits(n)

Arguments#

  • n: joint number, an integer.

Responses#

  • [2113][n, qn,min, qn,max]

    • n: joint number, an integer number between 1 and 4;

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

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

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 GetModelJointLimits is represented by DynamicDataTypeID 12 and 13. See Section 4.4.6 for more details.