GetConfTurn#

This command returns the desired turn configuration for the last joint (see Section 2.2.1), i.e., the turn configuration that will be applied to the next MovePose or MoveLin* command in the motion queue. This is either the turn configuration explicitly specified using the SetConfTurn command or the one automatically assigned when the SetAutoConfTurn(0) command was executed.

Syntax#

GetConfTurn()

Responses#

  • [2036][ct]

    • ct: turn configuration parameter, an integer or an asterisk†.

† If automatic turn configuration selection is enabled, the response is [2036][*].

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