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

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

Caution

Call this function only while real-time control is connected.

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.c_str());

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.