get_joint_range()
Features
Returns the joint angle limit value of the current safety setup parameter.
Parameters
None
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
PY
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)Related commands
- None