# Need Clarification on RTDE Values' unit of measurement

**URL:** <https://forum.universal-robots.com/t/need-clarification-on-rtde-values-unit-of-measurement/8715>\
**Category:** Robot Communication\
**Created:** [September 8, 2020, 12:40pm UTC](https://forum.universal-robots.com/t/need-clarification-on-rtde-values-unit-of-measurement/8715 "2020-09-08T12:40:09Z")\
**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:** [September 8, 2020, 12:40pm UTC](https://forum.universal-robots.com/t/need-clarification-on-rtde-values-unit-of-measurement/8715/1 "2020-09-08T12:40:09Z")

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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?

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**Author:** ![m.nagel](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/m.nagel/32/2326_2.png) [@m.nagel](https://forum.universal-robots.com/u/m.nagel)\
**Post date:** [September 14, 2020, 5:15pm UTC](https://forum.universal-robots.com/t/need-clarification-on-rtde-values-unit-of-measurement/8715/2 "2020-09-14T17:15:26Z")

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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?