Get Actual Main Voltage
SUMMARY
Get Actual Main Voltage returns the main supply voltage measured on the Safety Control Board. This is the primary input voltage to the robot controller electronics.
Use this skill to monitor power supply health and detect under- or over-voltage conditions.
SUPPORTED ROBOTS
This skill is currently supported on Universal Robots only. Calling this method on other robot brands will raise a NotImplementedError.
The Skill
python
v = robot.get_actual_main_voltage()The Code
Example: Read the Main Supply Voltage
Connect to the robot, read the main voltage, and log it.
python
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)
v = robot.get_actual_main_voltage()
logger.info(f"Main voltage: {v:.2f} V")
# Disconnect
robot.disconnect()The Explanation of the Code
get_actual_main_voltage queries the RTDE receive interface for the main supply voltage on the Safety Control Board. The returned value is in volts [V].
How to Tune the Parameters
This skill takes no parameters.
Return Value
| Type | Description |
|---|---|
float | Safety Control Board main supply voltage [V]. |
Where to Use the Skill
- Power monitoring — Log supply voltage for health checks and anomaly detection
- Startup diagnostics — Verify nominal supply voltage before beginning a task
When Not to Use the Skill
Do not use Get Actual Main Voltage when:
- You need the 48V joint drive rail voltage — use Get Actual Robot Voltage instead
- You need the total robot current draw — use Get Actual Robot Current instead