GetCollisionStatus

This command returns the current collision status (refer to Figure 12).

Syntax

GetCollisionStatus

Responses

• [2182][v, g₁, o_id,1, g₂, o_id,2]

  • v: collision state (1 or 0^†),

  • g₁, g₂: group identifier of first and second colliding objects:

    • 0 for links

    • 1 for FCP

    • 2 for tool

  • o_id,1, o_id,2: object ID of first and second in collision, depending on group identifier, as follows:

    • If g = 0 (links): 0 for robot base, 1 for link 1, 2 for link 2, etc.

    • If g = 1 (FCP): 0 for FCP (Flange Center Point).

    • If g = 2 (tool): 0 for tool sphere, 20,000 for MVK01,.

  ^† If v = 0, g₁ = g₂ = o_id,1 = o_id,2 = 0.

Usage restrictions

This command can be executed in any robot state.

Cyclic protocols

In cyclic protocols, the GetCollisionStatus command is represented by DynamicDataTypeID 37. See Section 4.4.6 for more details.