GetRtJointPos

This command returns the current joint set read by the joint encoders. It also returns a timestamp.

Syntax

GetRtJointPos()

Responses

• [2210][t, θ₁, θ₂, d₃, θ₄]

  • t: timestamp in microseconds;

  • θ₁, θ₂, θ₄: the angles of joint 1, 2, and 4, in degrees;

  • d₃: the position of joint 3, in mm.

Usage restrictions

This command can be executed in any robot state.

Cyclic protocols

In cyclic protocols, the command GetRtJointPos is represented by DynamicDataTypeID 40. See Section 4.4.6 for more details.