GetRtTargetJointPos

This command returns the current target joint set.

Syntax

GetRtTargetJointPos()

Responses

• [2200][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.

Note

The deprecated GetJoints command, which remains supported, returns the same data, except for the timestamp. The message ID is also different, being 2026.

Usage restrictions

This command can be executed in any robot state.

Cyclic protocols

In cyclic protocols, the command GetRtTargetJointPos is represented by the TargetJointSet section (see Section 4.5.3).