GetWorkZoneStatus#

This command returns the current work zone violation status (refer to Figure 12).

Syntax#

GetWorkZoneStatus()

Responses#

  • [2183][v, g, oid]

    • v: work zone violation state (1 or 0†),

    • g: group identifier of object in breach: - 0 for links - 1 for FCP - and 2 for tool

    • oid: object ID, depending on group identifier number, 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, g = oid = 0.

Usage restrictions#

This command can be executed in any robot state.

Cyclic protocols#

In cyclic protocols, the GetWorkZoneStatus command is represented by DynamicDataTypeID 38. See Section 4.4.6 for more details.