GetRtI2t#

This command returns the current robot I2t readings for multiple components on the robot. It also returns a timestamp.

I2t readings quantify short-term electrical load and resulting heat buildup in each motor. They are used by the control system to evaluate how close a motor is to its thermal limit. The I2t value is always negative, starting at -32768 when the motor has been idle for some time, and increasing toward 0 as electrical load is applied (either during motion or while holding torque). When an I2t reading reaches 0, the robot triggers a motion error due to motor overload.

Note

When at least one motor is approaching overload, the robot will report event (code 3048, see Table 3).

Note

When at least one motor is overloaded, the robot will enter motion error (code 3005, see Table 3). It will be possible to reset the error only after the affected motor has cooled down slightly, which usually takes a few seconds.

Syntax#

GetRtI2t()

Responses#

  • [2210][t, I2t1, I2t2, I2t3, I2t4]

    • t: timestamp in microseconds;

    • I2ti: the I2t reading of motor i, between -32768 (motor idle) and 0 (overload).

Usage restrictions#

This command can be executed in any robot state.

Cyclic protocols#

In cyclic protocols, the command GetRtI2t is represented by DynamicDataTypeID 56. See Section 4.4.6 for more details.