GetTorqueLimitsCfg

This command returns the desired behavior of the robot when a joint torque exceeds the thresholds set by the SetTorqueLimits. This desired behavior is configured using the SetTorqueLimitsCfg command.

Syntax

GetTorqueLimitsCfg()

Responses

• [2160][l, m]

  • l: an integer defining the torque limit event severity (see SetTorqueLimitsCfg);

  • m: an integer defining the detection mode (see SetTorqueLimitsCfg).

Usage restrictions

This command can only be executed when the robot is ready for motion. Otherwise, the robot will report one of the following:

• [1005][The robot is not activated.]

• [1006][The robot is not homed.]

Cyclic protocols

In cyclic protocols, the commands GetTorqueLimitsCfg is represented by DynamicDataTypeID 24. See Section 3.4.6 for more details.