GetTorqueLimits#

Returns the current joint torque thresholds, as configured in the motion queue by the command SetTorqueLimits.

Syntax#

GetTorqueLimits()

Responses#

  • [2161][τ1, τ2, τ3, τ4 , τ5, τ6]

    • τi: torque threshold represented by a percentage of the maximum allowable torque that can be applied at motor i, where i = 1, 2, …, 6 ranging from 0.001 to 100.

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 GetTorqueLimits is represented by DynamicDataTypeID 25. See Section 4.4.6 for more details.