SetRealTimeMonitoring

TCP port 10001 (i.e., the monitoring port) transmits the robot’s joint set and TRF pose, as well as some other data (see Section 2.2.3), at the rate specified by the SetMonitoringInterval command. The SetRealTimeMonitoring command enables the transmission of various additional real-time data over the monitoring port. Each set of data is preceded by a monotonic timestamp in microseconds, with respect to an internal clock. Essentially, you get the same responses as with the GetRt* and GetRtTarget* commands, but on the monitoring port, instead of on the control port, and at every monitoring interval, rather than only when requested.

You can send the SetRealTimeMonitoring command even if the robot is not activated.

Syntax

SetRealTimeMonitoring(n1,n2,...)

Arguments

• n₁,n₂: a list of number codes or names, as follows

  • 2200 or TargetJointPos, for the response of the GetRtTargetJointPos command;

  • 2201 or TargetCartPos, for the response of the GetRtTargetCartPos command;

  • 2202 or TargetJointVel, for the response of the GetRtTargetJointVel command;

  • 2203 or TargetJointTorq, for the response of the GetRtTargetJointTorq command;

  • 2204 or TargetCartVel, for the response of the GetRtTargetCartVel command;

  • 2210 or JointPos, for the response of the GetRtJointPos command;

  • 2211 or CartPos, for the response of the GetRtCartPos command;

  • 2212 or JointVel, for the response of the GetRtJointVel command;

  • 2213 or JointTorq, for the response of the GetRtJointTorq command;

  • 2214 or CartVel, for the response of the GetRtCartVel command;

  • 2218 or Conf, for the response of the GetRtConf command (sent only when changed);

  • 2219 or ConfTurn, for the response of the GetRtConfTurn command (sent only when changed);

  • 2220 or Accel, for the response of the GetRtAccelerometer command;

  • 2321 or GripperForce, for the response of the GetRtGripperForce command;

  • 2322 or GripperPos, for the response of the GetRtGripperPos command;

  • 2343 or VacuumPressure, for the response of the GetRtVacuumPressure command;

  • All, to enable all of the above responses.

Default values

After a power up, none of the above messages are enabled.

Responses

• [2117][n₁, n₂ …]

  • n₁, n₂ …: a list of response codes.

Additional details

The SetRealTimeMonitoring command does not have a cumulative effect; if you execute the command SetRealTimeMonitoring(All) and then the command SetRealTimeMonitoring(TargetCartPos) or the command SetRealTimeMonitoring(2201), you will only enable message 2201. Further details about the monitoring port are presented in Section 2.2.3.

Usage restrictions

This command can be executed in any robot state.

Cyclic protocols

This command is not available in cyclic protocols.