Need Clarification on RTDE Values' unit of measurement

Technical Questions Robot Communication
1

Hi,

The values for below parameters shall be collected from RTDE.

actual_TCP_speed
actual_TCP_force
actual_momentum
actual_tool_accelerometer

Can you please clarify the unit of measurement that these values represent.

actual_TCP_speed - is it meter/second or millimeter/second?
actual_TCP_force - ?.
momentum - Is it (kilogram*mass)/second?
actual_tool_accelerometer - meter/second?

2

hi gomathisankar

actual_TCP_speed - x,y,z: mm/s rx,ry,rz: rad/s
actual_TCP_force - N
actual_momentum - Ns (?)
actual_tool_accelerometer - m/s²

Please, could someone correct or confirm this?