State Reading
State Reading
synapse reads back the robot's current and commanded state - joint positions, velocities and torques, Cartesian pose, TCP speed and force - as well as overall robot status, safety mode, and controller diagnostics.
State Reading
Read back the robot's current and commanded state - joint positions, velocities and torques, Cartesian pose, TCP speed and force, and controller timestamps.
Manipulator States
Reads comprehensive manipulator state information.
View →Is Connected
Checks whether the SDK is connected to the robot.
View →Get Joint Positions
Reads the current joint positions.
View →Get Joint Velocities
Reads the current joint velocities.
View →Get Joint Torques
Reads the current joint torques.
View →Get Cartesian Pose
Reads the current end-effector Cartesian pose.
View →Get TCP Speed
Reads the actual TCP (tool center point) speed.
View →Get TCP Force
Reads the actual force/torque at the TCP.
View →Get Target Joint Positions
Reads the target joint positions commanded to the controller.
View →Get Target Joint Velocities
Reads the target joint velocities commanded to the controller.
View →Get Target Joint Accelerations
Reads the target joint accelerations commanded to the controller.
View →Get Target TCP Pose
Reads the target TCP pose commanded to the controller.
View →Get Target TCP Speed
Reads the target TCP speed commanded to the controller.
View →Get Timestamp
Reads the robot controller timestamp.
View →Robot Status
Read the robot's overall operating mode, safety mode, runtime state, and control loop frequency.
Get Robot Mode
Reads the current robot operating mode.
View →Get Robot Status
Reads the overall robot status.
View →Get Safety Mode
Reads the current safety mode of the robot.
View →Get Runtime State
Reads the runtime execution state of the robot program.
View →Get Controller Frequency
Reads the control loop frequency of the robot controller.
View →Diagnostics
Read the speed scaling applied by the controller, useful for understanding why a motion is running slower than commanded.
Get Speed Scaling Combined
Reads the combined speed scaling factor applied by the controller.
View →Get Target Speed Fraction
Reads the target speed fraction set for the robot program.
View →Where to Go Next?
Continue to the next tutorial.
Building a Tree
Construct a TransformTree and add, update, delete, rename, or graft frames onto it.
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