GetRealTimeMonitoring

This command returns the numerical codes of the responses that have been enabled using the SetRealTimeMonitoring command.

Syntax

GetRealTimeMonitoring()

Responses

• [2117][n₁, n₂, …]

  • 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.

Usage restrictions

This command can be executed in any robot state.

Cyclic protocols

This command is not available in cyclic protocols.