RTDE: Real-Time Data Exchange

static void Main(string[] args)
{
var robot = new UR();

var parameters = new ConnectParameters("192.168.0.1");

// RTDE is disabled by default
parameters.Rtde.Enable = true;
parameters.Rtde.Frequency = 500; // Hz

// Outputs: the data that the robot sends
parameters.Rtde.OutputSetup.Add(RtdeOutputData.ActualTcpPose);
parameters.Rtde.OutputSetup.Add(RtdeOutputData.OutputDoubleRegisters, 24);

// Inputs: the data that your application writes
parameters.Rtde.InputSetup.Add(RtdeInputData.StandardAnalogOutputMask);
parameters.Rtde.InputSetup.Add(RtdeInputData.StandardAnalogOutput0);
parameters.Rtde.InputSetup.Add(RtdeInputData.InputIntRegisters, 24);

robot.Connect(parameters);

// Raised at each package, 500 times per second here
robot.Rtde.OutputDataReceived += (sender, e) =>
{
  Pose pose = e.OutputDataValues.ActualTcpPose;
  double register24 = e.OutputDataValues.OutputDoubleRegisters.X24;
};

// Write inputs
var inputs = new RtdeInputValues();
inputs.StandardAnalogOutputMask = 0b01; // analog output 0
inputs.StandardAnalogOutput0 = 0.2;
inputs.InputIntRegisters.X24 = 12;
robot.Rtde.WriteInputs(inputs);

// Close RTDE only
robot.Rtde.Disconnect();
}
}

static void Main(string[] args)
{
// An RTDE client, without a UR instance
var client = new RtdeClient();

var outputSetup = new RtdeOutputSetup();
outputSetup.Add(RtdeOutputData.ActualCurrent);

var inputSetup = new RtdeInputSetup();
inputSetup.Add(RtdeInputData.InputIntRegisters, 24);

client.Connect("192.168.0.1", outputSetup, inputSetup, RtdeVersions.V2, frequency: 500);

client.OutputDataReceived += (sender, e) =>
{
  JointsDoubleValues currents = e.OutputDataValues.ActualCurrent; // A
};

var inputs = new RtdeInputValues();
inputs.InputIntRegisters.X24 = 12;
client.WriteInputs(inputs);

client.Disconnect();
}
}

{
var robot = new UR();
var parameters = new ConnectParameters("192.168.0.1");

parameters.Rtde.Enable = true;

// 10 Hz by default, up to 500 Hz on e-Series. 0 is the maximum of the robot
parameters.Rtde.Frequency = 500;

// V2 by default. The SDK uses V1 when the robot does not support V2
parameters.Rtde.Version = RtdeVersions.V2;

// Inputs, written by your application
parameters.Rtde.InputSetup.Add(RtdeInputData.StandardDigitalOutputMask);
parameters.Rtde.InputSetup.Add(RtdeInputData.StandardDigitalOutput);
parameters.Rtde.InputSetup.Add(RtdeInputData.InputBitRegisters, 64);

// Outputs, sent by the robot. A register needs its number
parameters.Rtde.OutputSetup.Add(RtdeOutputData.ActualTcpPose);
parameters.Rtde.OutputSetup.Add(RtdeOutputData.ToolOutputVoltage);
parameters.Rtde.OutputSetup.Add(RtdeOutputData.OutputDoubleRegisters, 24);

robot.Connect(parameters);

// Version used on this connection
RtdeVersions version = robot.Rtde.Version;
robot.Disconnect();
}

robot.Connect(parameters);
// Last values received
Pose pose = robot.Rtde.OutputDataValues.ActualTcpPose;
int toolVoltage = robot.Rtde.OutputDataValues.ToolOutputVoltage;
double register24 = robot.Rtde.OutputDataValues.OutputDoubleRegisters.X24;

// Or an event, raised at each package
robot.Rtde.OutputDataReceived += (sender, e) =>
{
  // Frequency computed from the timestamps of the robot
  double frequency = e.MeasuredFrequency;

  Pose tcp = e.OutputDataValues.ActualTcpPose;
};
robot.Disconnect();
}

robot.Connect(parameters);
// Every input of the setup is written: give a value to each one
var inputs = new RtdeInputValues();

// Digital output 7: the mask selects the outputs to change, the value sets them
inputs.StandardDigitalOutputMask = 0b1000_0000;
inputs.StandardDigitalOutput = 0b1000_0000;

inputs.ExternalForceTorque = new CartesianCoordinates(0, 0, 1, 0, 0, 0.1);

// Analog output 1
inputs.StandardAnalogOutputMask = 0b10;
inputs.StandardAnalogOutput1 = 0.1;

inputs.InputBitRegisters.X64 = true;

robot.Rtde.WriteInputs(inputs);
robot.Disconnect();
}

robot.Connect(parameters);
// The robot answers each request
robot.Rtde.PauseReceived += (sender, e) => Console.WriteLine("Paused: " + e.Accepted);
robot.Rtde.StartReceived += (sender, e) => Console.WriteLine("Started: " + e.Accepted);

// Stop the stream, the connection stays open
robot.Rtde.Pause();

// Start the stream again
robot.Rtde.Resume();
robot.Disconnect();
}

robot.Connect(parameters);
// Frequency accepted by the robot (V2)
double appliedFrequency = robot.Rtde.AppliedFrequency;

// The connection is open
bool connected = robot.Rtde.Connected;

// Started, paused...
bool paused = robot.Rtde.State == RTDEStates.Paused;

// Messages of the robot about the RTDE session. The last one is kept
robot.Rtde.TextMessageReceived += (sender, e) =>
{
  Console.WriteLine(e.WarningLevel + " " + e.Source + ": " + e.Message);
};
RtdeTextMessageEventArgs lastMessage = robot.Rtde.LastTextMessage;

// Errors of the SDK in the background
robot.Rtde.InternalErrorOccured += (sender, e) => Console.WriteLine(e.Message);
robot.Disconnect();
}