GetRtTargetJointVel#

This command returns the current target joint velocities.

Syntax#

GetRtTargetJointVel()

Responses#

  • [2202][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 GetRtTargetJointVel is represented by DynamicDataTypeID 32. See Section 4.4.6 for more details.