GetToolSphere

This command returns the current definition of the tool sphere, set with the SetToolSphere command.

Syntax

GetToolSphere()

Responses

• [2167][x, y, z, r]

  • x, y, z: the coordinates of the center of the tool sphere in the FRF, in mm;

  • r: the radius of the tool sphere, in mm.

Usage restrictions

This command can be executed in any robot state.

Cyclic protocols

In cyclic protocols, the GetToolSphere command is represented by DynamicDataTypeID 19. See Section 4.4.6 for more details.