This function will activate a watchdog for a particular input variable to the RTDE. When the watchdog did not receive an input update for the specified variable in the time period specified by min_frequency (Hz), the corresponding action will be taken. All watchdogs are removed on program stop.

>>> rtde_set_watchdog("input_int_register_0", 10, "stop")

Parameters

variable_name: Input variable name (string), as specified by the RTDE interface

min_frequency: The minimum frequency (float) an input update is expected to arrive.

action: Optional: Either "ignore", "pause" or "stop" the program on a violation of the minimum frequency. The default action is "pause".

Return Value

None

Note: Only one watchdog is necessary per RTDE input package to guarantee the specified action on missing updates.

Example command: rtde set watchdog( "input int register 0" , 10, "stop" )

• Example Parameters:
  • variable name = input int register 0
  • min frequency = 10 hz
  • action = stop the program