GetRtJointVel#

This command returns the current joint velocities, calculated by differentiating the joint encoders data.

Syntax#

GetRtJointVel()

Responses#

  • [2212][t, ω1, ω2, ω3, ω4, ω5, ω6]

    • t: timestamp in microseconds;

    • ωi: the rate of change of joint i, in °/s (i = 1, 2, …, 6).

Usage restrictions#

This command can be executed in any robot state.

Cyclic protocols#

In cyclic protocols, the command GetRtJointVel is represented by DynamicDataTypeID 42. See Section 4.4.6 for more details.