# What is the difference between get\_target\_tcp\_pose and get\_actual\_tcp\_pose?

**URL:** <https://forum.universal-robots.com/t/what-is-the-difference-between-get-target-tcp-pose-and-get-actual-tcp-pose/31342>\
**Category:** Technical Questions\
**Created:** [November 10, 2023, 6:06pm UTC](https://forum.universal-robots.com/t/what-is-the-difference-between-get-target-tcp-pose-and-get-actual-tcp-pose/31342 "2023-11-10T18:06:35Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![jmarti64](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/jmarti64/32/4667_2.png) [@jmarti64](https://forum.universal-robots.com/u/jmarti64)\
**Post date:** [November 10, 2023, 6:06pm UTC](https://forum.universal-robots.com/t/what-is-the-difference-between-get-target-tcp-pose-and-get-actual-tcp-pose/31342/1 "2023-11-10T18:06:35Z")

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What is the difference between get\_target\_tcp\_pose and get\_actual\_tcp\_pose?  
It seems the same to me.

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**Author:** ![tizh](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/tizh/32/4176_2.png) [@tizh](https://forum.universal-robots.com/u/tizh)\
**Post date:** [November 13, 2023, 5:14am UTC](https://forum.universal-robots.com/t/what-is-the-difference-between-get-target-tcp-pose-and-get-actual-tcp-pose/31342/2 "2023-11-13T05:14:40Z")

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Hi,  
get\_target\_tcp\_pose() returns the planned position, and get\_actual\_tcp\_pose() returns the actual pose of robot.  
if every runs well, they should be nearly the same, if the gap is over the limit, protective stop triggered. picture below for example.

 ![image](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/b/b138802e189343757b8f17c82bb224712f00b2c1.png)