Get Actual Execution Time

SUMMARY

Get Actual Execution Time returns the execution time of the robot controller's real-time thread. This is the controller's internal timestamp, useful for time-stamping RTDE data streams and diagnosing controller timing behaviour.

SUPPORTED ROBOTS

This skill is currently supported on Universal Robots only. Calling this method on other robot brands will raise a NotImplementedError.

The Skill

t = robot.get_actual_execution_time()

The Code

Example: Read the Controller Execution Time

Connect to the robot, read the controller execution time, and log it.

from loguru import logger
from telekinesis.synapse.robots.manipulators import universal_robots

robot_ip = "192.168.1.2"  # replace with your robot's IP

robot = universal_robots.UniversalRobotsUR10E()
# Connect
robot.connect(ip=robot_ip)

t = robot.get_actual_execution_time()
logger.info(f"Controller execution time: {t:.6f} s")

# Disconnect
robot.disconnect()

The Explanation of the Code

get_actual_execution_time returns the controller's real-time thread execution timestamp in seconds [s]. This value increments with each controller cycle and can be used to synchronise Python-side logging with the RTDE data stream, or to detect skipped controller cycles during recording.

How to Tune the Parameters

This skill takes no parameters.

Return Value

Type	Description
float	Controller real-time thread execution time [s].

Where to Use the Skill

• Data synchronisation — Align RTDE data with external sensor timestamps
• Timing diagnostics — Detect skipped controller cycles or unexpected latency in the control loop

When Not to Use the Skill

Do not use Get Actual Execution Time when:

• You need the controller update frequency — use Get Controller Frequency instead