GetCollisionCfg

This command returns the severity level set with the SetCollisionCfg command.

Syntax

GetCollisionCfg()

Responses

• [2181][l]

  • l: integer defining the collision detection event severity as

    • 0, silent (i.e., collisions are verified but no action is taken, other than to log them internally);

    • 1, generate a warning (message [2182]) every time a new imminent collision is detected;

    • 4, generate a warning (message [2182]) and a motion error (message [3041]) every time a new imminent collision is detected.

Usage restrictions

This command can be executed in any robot state.

Cyclic protocols

In cyclic protocols, the GetCollisionCfg command is represented by DynamicDataTypeID 36. See Section 4.4.6 for more details.