GetMoveMode#

This command returns the default move mode set by the SetMoveMode command.

Syntax#

GetMoveMode()

Responses#

  • [2189][m]

    • m: move sub-mode, where

      • 0 stands for the velocity-based sub-mode, meaning the commands SetJointVel, SetCartLinVel, and SetCartAngVel affect all subsequent position-mode movement commands.

      • 1 stands for the time-based submode, meaning the command SetMoveDuration affects all subsequent position-mode movement commands, except MoveJump.

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