GetTorqueLimitsCfg

This command returns the desired behavior of the robot when a joint torque exceeds the thresholds set by the SetTorqueLimits. This desired behavior is configured using the SetTorqueLimitsCfg command.

Syntax

GetTorqueLimitsCfg()

Responses

• [2160][l, m]

  • l: integer for the torque limit event severity

    • 0, no action;

    • 1, torque status event (message [3028]);

    • 2, pause motion and torque status event (message [3028]);

    • 4, torque status event (message [3028]) and torque limit error (message [3029]).

  • m: integer defining the detection mode

    • 0 triggers a torque limit if the absolute value of any actual motor torque exceeds the respective torque limit set with SetTorqueLimits,

    • 1 is same as 0, but ignores joint acceleration/deceleration periods,

    • 2 triggers if any actual motor torque deviates from the corresponding calculated torque by more than the respective torque limit set with SetTorqueLimits. See the note below concerning accuracy of torque prediction.

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 GetTorqueLimitsCfg is represented by DynamicDataTypeID 24. See Section 4.4.6 for more details.