GetRtJointVel

This command returns the current joint velocities, calculated by differentiating the joint encoders data.

Syntax

GetRtJointVel()

Responses

• [2212][t, ω₁, ω₂, v₃, ω₄]

  • t: timestamp in microseconds;

  • ω₁, ω₂, ω₄: the rates of change of joints 1, 2, and 4;

  • v₃: the rate of change of joint 3, in mm/s.

Usage restrictions

This command can be executed in any robot state.

Cyclic protocols

In cyclic protocols, the command GetRtJointVel is represented by DynamicDataTypeID 42. See Section 4.4.6 for more details.