GetRtTargetCartVel#

This command returns the current target Cartesian velocity vector of the TRF with respect to the WRF.

Syntax#

GetRtTargetCartVel()

Responses#

  • [2204][t, ẋ , ẏ , ż, ωz]

    • t: timestamp in microseconds;

    • ẋ , ẏ , ż: components of the linear velocity vector of the TCP with respect to the WRF, in mm/s;

    • ωz: angular velocity of the TRF with respect to the WRF, in °/s.

Usage restrictions#

This command can be executed in any robot state.

Cyclic protocols#

In cyclic protocols, the command GetRtTargetCartVel is represented by DynamicDataTypeID 34. See Section 4.4.6 for more details.