GetWorkZoneCfg#

This command returns the current work zone configuration, set with the SetWorkZoneCfg command.

Syntax#

GetWorkZoneCfg()

Responses#

  • [2163][l, m]

    • l: integer defining the work zone breach detection event severity as

      • 0: silent (i.e., work zone breach is verified but no action is taken, other than to log them internally);

      • 1: generate a warning (message [2183]) every time a new imminent work zone breach is detected;

      • 4: generate a warning (message [2183]) and a motion error (message [3049]) every time a new imminent work zone breach is detected.

    • m: integer defining the work zone breach verification mode as

      • 1: verify whether the FCP (Flange Center Point) is inside the work zone;

      • 2: verify whether the tool is completely inside the work zone (tool is the tool sphere defined with the SetToolSphere command);

      • 3: verify whether the tool AND all robot links are completely inside the work zone.

Usage restrictions#

This command can be executed in any robot state.

Cyclic protocols#

In cyclic protocols, the GetWorkZoneCfg command is represented by DynamicDataTypeID 17. See Section 4.4.6 for more details.