Get Target Joint Currents
SUMMARY
Get Target Joint Currents returns the joint motor current setpoints that the robot controller is currently commanding. These are the reference currents generated by the motion controller, not the measured motor currents.
SUPPORTED ROBOTS
This skill is currently supported on Universal Robots only. Calling this method on other robot brands will raise a NotImplementedError.
The Skill
currents = robot.get_target_joint_currents()The Code
Example: Read Controller-Commanded Target Joint Currents
Connect to the robot, read the target joint currents, and log them.
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)
currents = robot.get_target_joint_currents()
logger.info(f"Target joint currents (A): {currents}")
# Disconnect
robot.disconnect()The Explanation of the Code
get_target_joint_currents reads the current reference commands output by the motion controller for each joint drive. The result is a 6-element list [I1…I6] in amperes. These values reflect the controller's demand, not the physical current measured by the motor drives.
How to Tune the Parameters
This skill takes no parameters.
Return Value
| Type | Description |
|---|---|
list[float] | 6-element list [I1…I6] of controller-commanded joint motor currents [A]. |
Where to Use the Skill
- Current demand monitoring — Observe the current commands during motion for diagnostics and tuning
- Load estimation — Use current demand as a proxy for joint load when combined with motor torque constants
When Not to Use the Skill
Do not use Get Target Joint Currents when:
- You need the actual measured motor currents — use Get Actual Joint Currents instead
- You need torque estimates from measured current — use Get Actual Current as Torque instead