GetRtTargetConfTurn

This command returns the turn configuration parameters calculated from the current target joint value for the last joint.

Syntax

GetRtTargetConfTurn()

Responses

• [2209][t, c_t]

  • t: timestamp in microseconds;

  • c_t: turn configuration parameter, an integer number.

Usage restrictions

This command can be executed in any robot state.

Cyclic protocols

In cyclic protocols, the command GetRtTargetConfTurn is represented by the TargetConfiguration section (see Section 4.5.5).