GetWorkZoneLimits

This command returns the current definition of the bounding box with respect to the BRF, set with the SetWorkZoneLimits command.

Syntax

GetWorkZoneLimits()

Responses

• [2165][x_min, y_min, z_min, x_max, y_max, z_max]

  • x_min, y_min, z_min: the coordinates of the minimum corner of the cuboid in the BRF, in mm;

  • x_max, y_max, z_max: the coordinates of the maximum corner of the cuboid in the BRF, in mm.

Usage restrictions

This command can be executed in any robot state.

Cyclic protocols

In cyclic protocols, the GetWorkZoneLimits command is represented by DynamicDataTypeID 18. See Section 4.4.6 for more details.