You're reading the documentation for an older, but still supported version (GL013300).
For information on the latest version, please have a look at GL013301.

get_rt_control_output_version_list

This function retrieves the list of supported Real-time (RT) output data versions available on the robot controller. Each version represents a predefined output data schema determining which robot states (e.g., joint position, torque, I/O signals) are streamed from the controller.

Definition
DRFLEx.h within class CDRFLEx, public section (line 582)

string get_rt_control_output_version_list() {
    return _get_rt_control_output_version_list(_rbtCtrlUDP);
};

Parameter
None

Return

Value	Description
String	Comma-separated list of available RT Output Data Versions supported by the controller.

Version List

Output Data Version	First Supported Controller Version
v1.0	V2.9 and above

Example

#include "DRFLEx.h"
#include <iostream>
using namespace DRAFramework;

int main() {
    CDRFLEx drfl;

    // Connect and query RT output version list
    drfl.connect_rt_control("192.168.137.100", 12347);
    std::string version_list = drfl.get_rt_control_output_version_list();
    std::cout << "Available RT output versions: " << version_list << std::endl;

    drfl.disconnect_rt_control();
    return 0;
}

In this example, the function retrieves all supported RT output data versions (e.g., “v1.0”) that define the available output schema of the controller.

Tips

• Use this before calling set_rt_control_output to select a valid version.

• The available versions depend on the controller firmware version.

• Input/output versions must match when using synchronized RT communication.