GetJointAcc#

This command returns the desired joint accelerations reduction factor, set using the SetJointAcc command.

Syntax#

GetJointAcc()

Responses#

  • [2153][p]

    • p: percentage of maximum acceleration of the joints, from 0.001 to 150.

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