GetConf

This command returns the desired posture configuration (see Section 2.2.1), or more precisely, the posture configuration that will be applied to the next MovePose or MoveLin* command in the motion queue. This configuration is either explicitly specified using the SetConf command or automatically assigned when the SetAutoConf(0) command is executed.

Syntax

GetConf()

Responses

• [2029][c_s, c_e, c_w]

  • c_s: shoulder configuration parameter, either -1 or 1^†;

  • c_e: elbow configuration parameter, either -1 or 1^†;

  • c_w: wrist configuration parameter, either -1 or 1^†.

^† If automatic posture configuration selection is enabled, each parameter’s value is an asterisk, i.e., the response is [2029][*,*,*].

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 GetConf is represented by DynamicDataTypeID 20. See Section 4.4.6 for more details.