# \#client-interfaces

**URL:** https://forum.universal-robots.com/tag/client-interfaces/105.md

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## [RTDE output data units - actual\_execution\_time](https://forum.universal-robots.com/t/rtde-output-data-units-actual-execution-time/6792)

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**Author:** [@baptiste.veron](https://forum.universal-robots.com/u/baptiste.veron)\
**Replies:** 3\
**Last updated:** [March 27, 2020, 12:19pm UTC](https://forum.universal-robots.com/t/rtde-output-data-units-actual-execution-time/6792 "2020-03-27T12:19:02Z")

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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 ?

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## [How to get joint position from TCP/IP sockets?](https://forum.universal-robots.com/t/how-to-get-joint-position-from-tcp-ip-sockets/4729)

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**Author:** [@anon71517064](https://forum.universal-robots.com/u/anon71517064)\
**Replies:** 1\
**Last updated:** [July 15, 2019, 7:23am UTC](https://forum.universal-robots.com/t/how-to-get-joint-position-from-tcp-ip-sockets/4729 "2019-07-15T07:23:41Z")

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Is there a way to get Joint position from A tcpi ip socket for a ur 10 e ?

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## [Difference between actual TCP & client interface TCP](https://forum.universal-robots.com/t/difference-between-actual-tcp-client-interface-tcp/4680)

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**Author:** [@anon51059876](https://forum.universal-robots.com/u/anon51059876)\
**Replies:** 3\
**Last updated:** [July 12, 2019, 6:41am UTC](https://forum.universal-robots.com/t/difference-between-actual-tcp-client-interface-tcp/4680 "2019-07-12T06:41:00Z")

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What is the difference between the actual Pendent’s Tcp\_pose and the coding’s Actual\_Tcp\_Pose? Pendent x,y,z,Rx,Ry,Rz -485.44,-191.46,76.19,1.2451,1.1516,-1515 coding’s x,y,z,Rx,Ry,Rz -0.4854,-19146,0.47619,1.2451,…

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## [Get log file or error codes in real time](https://forum.universal-robots.com/t/get-log-file-or-error-codes-in-real-time/3488)

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**Author:** [@anon70167123](https://forum.universal-robots.com/u/anon70167123)\
**Replies:** 4\
**Last updated:** [January 24, 2019, 1:03am UTC](https://forum.universal-robots.com/t/get-log-file-or-error-codes-in-real-time/3488 "2019-01-24T01:03:54Z")

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Is there a way to get the error code information of the robot in real time or get the log file in real time? our goal is to get the real-time error code to fix the robot’s error through the dashboard.