# RTDE output data units - actual\_execution\_time

**URL:** <https://forum.universal-robots.com/t/rtde-output-data-units-actual-execution-time/6792>\
**Category:** Technical Questions\
**Tags:** rtde, client-interfaces\
**Created:** [March 26, 2020, 11:40am UTC](https://forum.universal-robots.com/t/rtde-output-data-units-actual-execution-time/6792 "2020-03-26T11:40:29Z")\
**Posts on this page:** 5\
**Page:** 1

<div class="post-metadata">

**Author:** ![baptiste.veron](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/baptiste.veron/32/1030_2.png) [@baptiste.veron](https://forum.universal-robots.com/u/baptiste.veron)\
**Post date:** [March 26, 2020, 11:40am UTC](https://forum.universal-robots.com/t/rtde-output-data-units-actual-execution-time/6792/1 "2020-03-26T11:40:29Z")

</div>

Hi,

RTDE provides the “actual\_execution\_time” output data.  
I am wondering in which unit it is given.  
Is it in hundredth of a second ?

---

<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:** [March 26, 2020, 11:18pm UTC](https://forum.universal-robots.com/t/rtde-output-data-units-actual-execution-time/6792/2 "2020-03-26T23:18:46Z")

</div>

I want to know, too.  
I got the data of “actual\_execution\_time” from real robot.

But I cannot understand the unit.

![actual_execution_time2](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/a/a38bbb2ce821cec22a7122b952346f7ac3a6caad.png)

---

<div class="post-metadata">

**Author:** ![Ebbe](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/ebbe/32/1413_2.png) [@Ebbe](https://forum.universal-robots.com/u/Ebbe)\
**Post date:** [March 27, 2020, 11:35am UTC](https://forum.universal-robots.com/t/rtde-output-data-units-actual-execution-time/6792/3 "2020-03-27T11:35:43Z")

</div>

The unit is milliseconds.

---

<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:** [March 27, 2020, 12:19pm UTC](https://forum.universal-robots.com/t/rtde-output-data-units-actual-execution-time/6792/4 "2020-03-27T12:19:02Z")

</div>

Thank you very much.  
I can know actual\_execution\_time is about between 0.3 and 0.4 milliseconds on real robot.

---

<div class="post-metadata">

**Author:** ![system](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/system/32/1_2.png) [@system](https://forum.universal-robots.com/u/system)\
**Post date:** [January 27, 2021, 4:23am UTC](https://forum.universal-robots.com/t/rtde-output-data-units-actual-execution-time/6792/5 "2021-01-27T04:23:44Z")

</div>

This topic was automatically closed 2 days after the last reply. New replies are no longer allowed.