Real-time data request commands

The commands in this section provide real-time data about the robot’s current status, and are instantaneous (i.e., executed immediately). Additionally, there are real-time data commands for the robot’s external tool accessories, which will be covered later.

Examples of robot data include the current joint set, the length of the motion queue, and the status of torque limits. There are two categories of real-time data commands for robot positioning:

• Real-time sensor data These commands return data based on live measurements from the robot’s sensors. Examples include GetRtJointTorq, GetRtJointPos, GetRtCartPos, etc.

• Real-time target data These commands return data based on targets calculated by the trajectory planner. Examples include GetRtTargetJointPos, GetRtTargetCartPos, etc.

For instance, if the robot is active and stationary, the GetRtTargetJointPos command will consistently return the same joint set. However, the robot is never perfectly still since the motors are continuously controlled by the drives. As a result, the revolute joints may oscillate by ±0.001° around the desired angles. If you execute the GetRtJointPos command twice in quick succession while the robot is stationary, you may notice slight differences in the responses.

In more dynamic situations, such as when a high force is applied or during rapid movements, the differences between the actual joint positions (GetRtJointPos) and the target positions (GetRtTargetJointPos) can be more significant. These differences increase further during rapid motions with high payloads or in the event of a collision.

Each GetRt* command response begins with a timestamp, measured in microseconds.

The following is the list of real-time data request commands, in alphabetical order:

• GetCmdPendingCount

• GetRtAccelerometer

• GetRtCartPos

• GetRtCartVel

• GetRtConf

• GetRtConfTurn

• GetRtJointPos

• GetRtJointTorq

• GetRtJointVel

• GetRtTargetCartPos

• GetRtTargetCartVel

• GetRtTargetConf

• GetRtTargetConfTurn

• GetRtTargetJointPos

• GetRtTargetJointTorq

• GetRtTargetJointVel

• GetRtTrf

• GetRtWrf

• GetRtc

• GetSafetyStopStatus

• GetStatusRobot

• GetTorqueLimitsStatus

A few other real-time data request commands exist, but these are presented in the sections Work zone supervision and collision prevention commands (GetCollisionStatus, GetWorkZoneStatus) and Optional accessory commands.