# Get TCP Speed relative to a pose different than Base

**URL:** <https://forum.universal-robots.com/t/get-tcp-speed-relative-to-a-pose-different-than-base/22725>\
**Category:** URScript\
**Created:** [July 18, 2022, 8:08am UTC](https://forum.universal-robots.com/t/get-tcp-speed-relative-to-a-pose-different-than-base/22725 "2022-07-18T08:08:31Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![anon74472218](https://avatars.discourse-cdn.com/v4/letter/a/ecc23a/32.png) [@anon74472218](https://forum.universal-robots.com/u/anon74472218)\
**Post date:** [July 18, 2022, 8:08am UTC](https://forum.universal-robots.com/t/get-tcp-speed-relative-to-a-pose-different-than-base/22725/1 "2022-07-18T08:08:31Z")

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Continuing the discussion from [Accessing speed in tool space](https://forum.universal-robots.com/t/accessing-speed-in-tool-space/2059):

Hello,

**i need to get or calculate the TCP speed relative to a pose like a custom Feature as example**.

get\_actual\_tcp\_speed() and get\_target\_tcp\_pose\_along\_path() both return the speed relative to base.

i tried the solution mentioned [Here](https://forum.universal-robots.com/t/accessing-speed-in-tool-space/2059/4) but it didn’t work and i didn’t understand the math behind it if its a correct solution.

Thanks in advance,