GetJointVel#

This command returns the desired joint velocities reduction factor, set using the SetJointVel command.

Syntax#

GetJointVel()

Responses#

  • [2152][p]

    • p: percentage of R3 top rated joint velocities, ranging from 0.001 to 100, for Meca500 R3, and to 150, for R4.

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