GetMoveJumpHeight

This command returns the different height parameters for the MoveJump command, set with the SetMoveJumpHeight command.

Syntax

GetMoveJumpHeight()

Responses

• [2174][h_start, h_end, h_min, h_max]

  • h_start: height of the initial pure vertical translation, in mm, from −102 to 102;

  • h_end: height of the final pure vertical translation, in mm, from −102 to 102;

  • h_min: minimum height to reach while performing the lateral motion, with respect to the highest (if h_start and h_end are positive) or lowest (if h_start and h_end are negative) between the start and end poses, in mm, from −102 to 102;

  • h_max: maximum height to reach while performing the lateral motion, with respect to the highest (if h_start and h_end are positive) or lowest (if h_start and h_end are negative) between the start and end poses, in mm, from −102 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 GetMoveJumpHeight is represented by DynamicDataTypeID 27. See Section 4.4.6 for more details.