GetCartAngVel#

This command returns the desired limit for the angular velocity of the Tool Reference Frame (TRF) relative to the World Reference Frame (WRF), set using the SetCartAngVel command.

Syntax#

GetCartAngVel()

Responses#

  • [2155][ω]

    • ω: TRF angular velocity limit, in °/s, ranging from 0.001 to 1,000.

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 command GetCartAngVel is represented by DynamicDataTypeID 22. See Section 4.4.6 for more details.