GetCartLinVel#

This command returns the desired Tool Center Point (TCP) velocity limit, configured using the SetCartLinVel command.

Syntax#

GetCartLinVel()

Responses#

  • [2154][v]

    • v: TRF linear velocity limit, in mm/s, ranging from 0.001 to 5,000.

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