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

// 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();
printf("Available RT output versions: %s\n", version_list);

drfl.disconnect_rt_control();

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.