Features
Returns the joint angle limit value of the current safety setup parameter.
Return
|
Value |
Data Types |
Description |
|---|---|---|
|
ret |
class.config_joint_range |
About setting joint angle limits |
Class
class.config_joint_range
|
||
|
Field |
Data Types |
Description |
|---|---|---|
|
obj |
list |
About objects of that class |
|
normal |
class.joint_range |
Joint angle limits in normal mode |
|
reduced |
class.joint_range |
Joint Angle Limits in Decelerated Mode |
class.joint_range
|
||
|
Field |
Data Types |
Description |
|---|---|---|
|
obj |
list |
About objects of that class |
|
max_vel |
float[6] |
Maximum Speed Limits for Each Axis |
|
max_range |
float[6] |
Maximum Range Limits for Each Axis |
|
min_range |
float[6] |
Minimum Range Limit for Each Axis |
Example
Python
def print_tp(s):
tp_log(str(s))
ret = get_joint_range()
### normal mode
print_tp(ret.normal.max_vel)
print_tp(ret.normal.max_range)
print_tp(ret.normal.min_range)
### reduced mode
print_tp(ret.reduced.max_vel)
print_tp(ret.reduced.max_range)
print_tp(ret.reduced.min_range)