GetTrf#

This command returns the current definition of the TRF with respect to the FRF, set using the SetTrf command.

Syntax#

GetTrf()

Responses#

  • [2014][x, y, z, γ]

    • x, y, z: the coordinates of the origin of the TRF with respect to the FRF, in mm;

    • γ: the orientation of the TRF about its z-axis relative to the FRF, in degrees.

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 GetTrf is represented by the TargetTrf section (see Section 4.5.7).