Data request commands

Most request commands return values for parameters that were either previously configured using the corresponding Set* command (e.g. SetJointVel and GetJointVel) or are simply the default values of those parameters (e.g. 50 in the case of the joint velocity). A few of the request commands return values for parameters that have been automatically assigned (e.g., at the factory as in the case of GetProductType, or after a firmware upgrade, as in the case of GetFwVersion).

Contrary to motion commands, robot control commands are executed immediately, i.e., are instantaneous. Therefore, if you send a SetTrf command, then a MovePose command, then another SetTrf command, and immediately after that a GetTrf command, you will get the arguments of the first SetTrf command.

The following is the alphabetically ordered list of data request commands that have a corresponding Set* command:

• GetAutoConf

• GetAutoConfTurn

• GetBlending

• GetCalibrationCfg

• GetCartAcc

• GetCartAngVel

• GetCartLinVel

• GetCheckpoint

• GetCheckpointDiscarded

• GetConf

• GetConfTurn

• GetEthernetIpEnabled

• GetJointAcc

• GetJointLimits

• GetJointLimitsCfg

• GetJointVel

• GetJointVelLimit

• GetMonitoringInterval

• GetMoveDuration

• GetMoveDurationCfg

• GetMoveMode

• GetNetworkOptions

• GetPayload

• GetProfinetEnabled

• GetPStop2Cfg

• GetRealTimeMonitoring

• GetRecoveryMode

• GetRobotName

• GetSimModeCfg

• GetTimeScaling

• GetTorqueLimits

• GetTorqueLimitsCfg

• GetTrf

• GetVelTimeout

• GetWrf

The following is the list of data request commands that return read-only data, which cannot be modified by the user:

• GetFwVersion

• GetModelJointLimits

• GetProductType

• GetRobotCalibrated

• GetRobotSerial

A few other data request commands exist, but these are presented in the sections Work zone supervision and collision prevention commands (e.g., GetToolSphere), Optional accessory commands and Variable management commands (beta) (e.g., GetVariable).