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 3.2.3), 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, for the response of the GetRtTargetJointPos command;

  • 2201, for the response of the GetRtTargetCartPos command;

  • 2202, for the response of the GetRtTargetJointVel command;

  • 2203, for the response of the GetRtTargetJointTorq command;

  • 2204, for the response of the GetRtTargetCartVel command;

  • 2210, for the response of the GetRtJointPos command;

  • 2211, for the response of the GetRtCartPos command;

  • 2212, for the response of the GetRtJointVel command;

  • 2213, for the response of the GetRtJointTorq command;

  • 2214, for the response of the GetRtCartVel command;

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

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

  • 2220, for the response of the GetRtAccelerometer command;

  • 2321, for the response of the GetRtGripperForce command;

  • 2322, for the response of the GetRtGripperPos command.

  You can also specify the above data sets by their names, instead of their number codes. For example, you can specify TargetCartPos instead of 2201, to get the response of the GetRtTargetCartPos command. Finally, you can specify All to enable the transmission of all the above data.

Default values

The default settings are applied whenever the robot is power cycled (rebooted).

By default, 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 3.2.3.

Usage restrictions

This command can be executed in any robot state.

Cyclic protocols

This command is not available in cyclic protocols.