GetMoveDurationCfg

This command returns the severity of the response when a move command cannot meet the desired duration set by the SetMoveDuration command, in time-based move mode.

Syntax

GetMoveDurationCfg()

Responses

• [2190][s]

  • s: severity, with

    • 0 for silent mode (no warning),

    • 1 for generating a warning message in the robot logs (also in MecaPortal), indicating the shortest possible duration for the movement command that failed to meet the desired duration,

    • 4 for generating an error with a code [3051], also indicating the shortest possible duration for the movement command that failed to meet the desired duration.

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 GetMoveDurationCfg is represented by DynamicDataTypeID 29. See Section 4.4.6 for more details.