Get Actual Robot Voltage
SUMMARY
Get Actual Robot Voltage returns the voltage of the 48V robot joint drive power rail as measured on the Safety Control Board. This rail supplies power to the joint motor drives.
Use this skill to monitor joint drive power health and detect voltage drops under load.
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_robot_voltage()The Code
Example: Read the 48V Robot Drive Voltage
Connect to the robot, read the robot drive 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_robot_voltage()
logger.info(f"Robot voltage (48V rail): {v:.2f} V")
# Disconnect
robot.disconnect()The Explanation of the Code
get_actual_robot_voltage queries the RTDE receive interface for the 48V joint drive rail voltage. The returned value is in volts [V]. This voltage supplies all six joint motor drives.
How to Tune the Parameters
This skill takes no parameters.
Return Value
| Type | Description |
|---|---|
float | Safety Control Board 48V robot drive rail voltage [V]. |
Where to Use the Skill
- Drive power monitoring — Log the 48V rail during high-load motions to detect voltage sag
- Power budget analysis — Use alongside Get Actual Robot Current to compute instantaneous power consumption
When Not to Use the Skill
Do not use Get Actual Robot Voltage when:
- You need the main supply voltage — use Get Actual Main Voltage instead