GetMoveJumpApproachVel

This command returns the desired initial and final velocity parameters for the MoveJump command, set using the SetMoveJumpApproachVel command.

Syntax

GetMoveJumpApproachVel()

Responses

• [2175][v_start, p_start, v_end, p_end]

  • v_start: maximum allowed vertical speed near the start pose, in mm/s, from 0.001 to 700;

  • p_start: initial portion of the retreat motion during which v_start is applied, in mm, from 0 to 102;

  • v_end: maximum allowed vertical speed near the end pose, in mm/s, from 0.001 to 700;

  • p_end: final portion of the approach motion during which v_start is applied, in mm, from 0 to 102.

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 commands GetMoveJumpApproachVel is represented by DynamicDataTypeID 28. See Section 4.4.6 for more details.