Get Step Time
SUMMARY
Get Step Time returns the duration of a single robot controller time step in seconds (typically 0.002 s for a 500 Hz controller).
Use this value to convert between control-step counts and wall-clock durations.
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
step_time = robot.get_step_time()The Code
Example: Read and Log Controller Step Time
Connect to the robot and read the controller's step time.
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)
step_time = robot.get_step_time()
logger.success(f"Controller step time: {step_time} s")
# Disconnect
robot.disconnect()The Explanation of the Code
get_step_time reads the step_time field from the RTDE data stream. On Universal Robots UR3/UR5/UR10 series, the typical value is 0.002 s (500 Hz control loop). Use this to calculate timing windows for history-based operations or synchronize sampling intervals.
How to Tune the Parameters
This skill takes no input parameters.
Return Value
| Field | Type | Description |
|---|---|---|
step_time | float | Control step duration in seconds. |
Where to Use the Skill
- Compute the number of history steps corresponding to a desired time window.
- Set polling intervals for state-sampling loops.
When Not to Use the Skill
Use a different skill when:
- You need elapsed controller time rather than step duration — use Get Timestamp instead.