get_general_range()
Features
Returns the TCP/Robot limit value of the current safety settings parameter.
Parameters
None
Return
| Value | Data Types | Description |
|---|---|---|
ret | class.config_general_range | About setting TCP/robot restrictions |
Class
class.config_general_range | ||
| Field | Data Types | Description |
|---|---|---|
obj | list | Object information for that class |
| normal | class.general_range | TCP/Robot restrictions in normal mode |
| reduced | class.general_range | TCP/Robot Restrictions in Slow Mode |
class.general_range | ||
| Field | Data Types | Description |
|---|---|---|
obj | list | Object information for that class |
max_force | float | Maximum external force limit |
max_power | float | Maximum power limit |
max_speed | float | Maximum TCP Rate Limit |
max_momentum | float | Maximum momentum limit |
Example
PY
def print_tp(s):
tp_log(str(s))
ret = get_general_range()
### normal mode
print_tp(ret.normal.max_force)
print_tp(ret.normal.max_power)
print_tp(ret.normal.max_speed)
print_tp(ret.normal.max_momentum)
### reduced mode
print_tp(ret.reduced.max_force)
print_tp(ret.reduced.max_power)
print_tp(ret.reduced.max_speed)
print_tp(ret.reduced.max_momentum)Related commands
- None