GetCheckpointDiscarded

Returns the id of the most recently discarded checkpoint (as posted with SetCheckpoint).

Checkpoint can be discarded by ClearMotion, DeactivateRobot, by robot entering error state or safety stop state.

Syntax

GetCheckpointDiscarded()

Responses

• [2149][n]

  • n: the most recently discarded checkpoint number, an integer between 1 and 8,000

Usage restrictions

This command can be executed in any robot state.

Cyclic protocols

In cyclic protocols, the command GetCheckpointDiscarded is represented by the CheckpointDiscarded field of the MotionStatus section (see Section 4.5.2).