GetPayload

This command returns the configured payload mass and center of mass, as set using the SetPayload command.

Syntax

GetPayload()

Responses

• [2192][m, c_x,c_y,c_z]

  • m: the payload mass, in kilograms.

  • c_x,c_y,c_z: the coordinates of the payload center of mass, relative to the robot’s FRF, in millimeters.

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 commands GetPayload is represented by DynamicDataTypeID 31. See Section 4.4.6 for more details.