# Actual Vs Target

**URL:** <https://forum.universal-robots.com/t/actual-vs-target/6848>\
**Category:** Robot Communication\
**Created:** [April 1, 2020, 5:21am UTC](https://forum.universal-robots.com/t/actual-vs-target/6848 "2020-04-01T05:21:55Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![gomathisankar](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/gomathisankar/32/607_2.png) [@gomathisankar](https://forum.universal-robots.com/u/gomathisankar)\
**Post date:** [April 1, 2020, 5:21am UTC](https://forum.universal-robots.com/t/actual-vs-target/6848/1 "2020-04-01T05:21:55Z")

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Hi,

I have some questions on RTDE message in UR controller. RTDE interface supports the following parameters.

target\_q  
target\_qd  
target\_qdd  
target\_current  
target\_moment  
actual\_q  
actual\_qd  
actual\_current  
actual\_TCP\_pose  
actual\_TCP\_speed  
actual\_TCP\_force  
target\_TCP\_pose  
target\_TCP\_speed  
actual\_momentum  
actual\_main\_voltage  
actual\_robot\_voltage  
actual\_robot\_current  
actual\_joint\_voltage

Can someone please explain me the difference between actual and target?

Thanks,  
Sankar

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<div class="post-metadata">

**Author:** ![fujikit](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/fujikit/32/6042_2.png) [@fujikit](https://forum.universal-robots.com/u/fujikit)\
**Post date:** [April 1, 2020, 6:26am UTC](https://forum.universal-robots.com/t/actual-vs-target/6848/2 "2020-04-01T06:26:33Z")

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I think the following.

“target” is the calculated coordinates on the ideal trajectory.  
“actual” is the coordinates that are actually moving.