GetRtTemperature

This command returns the current robot temperature readings for multiple components on the robot. It also returns a timestamp.

Note

If the temperature of at least one component becomes excessive, the robot will shut down automatically. The maximum allowed temperature is approximately 80 °C.

Syntax

GetRtTemperature()

Responses

• [2210][t, τ_b, τ_p, τ_s, τ₁, τ₂, τ₃, τ₄]

  • t: timestamp in microseconds;

  • τ_b: the temperature of the robot baseboard (main CPU) in °C;

  • τ_p: the temperature of the robot power supply in °C;

  • τ_s: the temperature of the robot safety processor in °C;

  • τ_i: the temperature of motor i, in °C;

Usage restrictions

This command can be executed in any robot state.

Cyclic protocols

In cyclic protocols, the command GetRtTemperature is represented by DynamicDataTypeID 55. See Section 4.4.6 for more details.