Command 2152: Acquires whether the PTP (point to point) motion from the current position to the target position is possible
Returns the status whether the PTP (Point to Point) motion from the current position to a target position is possible or not.
Command Syntax
| bit | Name | Description | |
|---|---|---|---|
| Parameter 1 | 15 | pointNumber | Specifies the point number to verify. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
Response Syntax
| bit | Name | Description | |
|---|---|---|---|
| Response 1 | 15 | result | Returns whether the PTP motion to the target position ir possible or not. 0 = Impossible 1 = Possible |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
Description
This command verifies whether the manipulator can reach to the target position and the orientation before actual operation. The motion trajectory to the target point is not considered.
Example
When verifying the motion to P2. When the motion is possible.
| Command | Response |
| 0868H 0002H | 0868H 0001H |