setExternalForceTorque return time more than 3 waitPeriods
- init param
we set rtde_control and rtde_receive frequency=500.0hz,then we enabled "ExternalForceTorque" with ftRtdeInputEnable
- run
but when we send sensor data by setExternalForceTorque(), in waitPeriod, it wait about 2 waitPeriods .
we logged timestamp,find that:
"while (getControlScriptState() != UR_CONTROLLER_DONE_WITH_CMD)" in function "RTDEControlInterface::sendCommand",so all return time =3 waitPeriods, about 6ms at 500hz .
- issue
other cmd just need less than a waitPeriod,is this right or how to reduce return time ? Thanks!