GetWrf#

This command returns the current definition of the WRF with respect to the BRF, set using the SetWrf command.

Syntax#

GetWrf()

Responses#

  • [2014][x, y, z, α, β, γ]

    • x, y, z: the coordinates of the origin of the WRF with respect to the BRF, in mm;

    • α, β, γ: Euler angles representing the orientation of the WRF relative to the BRF, in degrees.

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 GetWrf is represented by the TargetWrf section (see Section 4.5.6).