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RTDE : Real-Time Data Exchange

The RTDE protocol allows fast two-way data exchange between the robot and your application up to 500Hz.

Overview of RTDE
Setup connection
Receive data from robot
Send data to robot
Pause and resume
Other features
API reference

Overview

RTDE allows you to exchange data and measurements with the robot at high speed, up to 500Hz on the latest cobots.

For more information about RTDE, see : https://www.universal-robots.com/articles/ur/interface-communication/real-time-data-exchange-rtde-guide/

Overview of RTDE

RTDE allows you to receive and send certain data between the robot and your application.

When connecting, you must specify the list of data that will be exchanged, as well as the frequency at which the robot should send you data. Data sent by the robot to your application is called "Outputs" and data sent by your application to the robot is called "Inputs". The name is given from the point of view of the robot.

In operation, data is received and the OutputDataReceived event is periodically raised when data arrives.

Other events are used to be notified of RTDE link activities.

You can asynchronously write data to the robot controller.

It is also possible to pause and resume the streaming of measurements.

using UnderAutomation.UniversalRobots;
using UnderAutomation.UniversalRobots.Common;
using UnderAutomation.UniversalRobots.Rtde;
using UnderAutomation.UniversalRobots.Rtde.Internal;

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

    var param = new ConnectParameters("192.168.0.1");

    // Enable RTDE
    param.Rtde.Enable = true;

    // Exchange data at 500Hz
    param.Rtde.Frequency = 500;

    // Select data you want to write in robot controller
    param.Rtde.InputSetup.Add(RtdeInputData.StandardAnalogOutput0);
    param.Rtde.InputSetup.Add(RtdeInputData.InputIntRegisters, 0);

    // Select data you want the robot to send
    param.Rtde.OutputSetup.Add(RtdeOutputData.ActualTcpPose);
    param.Rtde.OutputSetup.Add(RtdeOutputData.ToolOutputVoltage);
    param.Rtde.OutputSetup.Add(RtdeOutputData.OutputDoubleRegisters, 10);

    // Connect to robot
    robot.Connect(param);

    // Be notified at 500Hz when data is received
    robot.Rtde.OutputDataReceived += Rtde_OutputDataReceived;

    //...

    // Get last received data in cache
    Pose actualTcpPose = robot.Rtde.OutputDataValues.ActualTcpPose;
    int toolOutputVoltage = robot.Rtde.OutputDataValues.ToolOutputVoltage;
    double outputDoubleRegisters10 = robot.Rtde.OutputDataValues.OutputDoubleRegisters.X10;

    //...

    // Write input values in robot
    var inputValues = new RtdeInputValues();
    inputValues.StandardAnalogOutput0 = 0.2;
    inputValues.InputIntRegisters.X0 = 12;
    robot.Rtde.WriteInputs(inputValues);


    // Disconnect only RTDE communication
    robot.Rtde.Disconnect();

    // Disconnect every interfaces (Primary Interface, Dashboard, RTDE, ...)
    robot.Disconnect();
    
  }

  
  private static void Rtde_OutputDataReceived(object sender, RtdeDataPackageEventArgs e)
  {
    // Get frequency of received message (OutputSetup contains Timestamp by default)
    var realMessageFrequency = e.MeasuredFrequency;

    // Get the value of the data you have selected in the setup 
    Pose actualTcpPose = e.OutputDataValues.ActualTcpPose;
    int toolOutputVoltage = e.OutputDataValues.ToolOutputVoltage;
    double outputDoubleRegisters10 = e.OutputDataValues.OutputDoubleRegisters.X10;

    // Write inputs at 500Hz
    var inputValues = new RtdeInputValues();
    inputValues.StandardAnalogOutput0 = 0.5;
    inputValues.InputIntRegisters.X0 = -10;
    (sender as RtdeClientBase)?.WriteInputs(inputValues);
  }
  
}

It is possible to create a RTDE client outside an instance of UR. To do this, you just need to instantiate a RtdeClient object.

using UnderAutomation.UniversalRobots.Common;
using UnderAutomation.UniversalRobots.Rtde;

class RtdeDirect
{
  static void Main(string[] args)
  {
    
    // Create a dashboard client alone, outside any UR instance
    var client = new RtdeClient();

    // Select output data to receive from the robot
    var outputSetup = new RtdeOutputSetup();
    outputSetup.Add(RtdeOutputData.ActualCurrent);

    // Select input data to send to the robot
    var inputSetup = new RtdeInputSetup();
    inputSetup.Add(RtdeInputData.InputIntRegisters, 4);
    inputSetup.Add(RtdeInputData.StandardAnalogOutput0);

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

    //...

    // Receive data at 500Hz
    client.OutputDataReceived += (o, e) =>
    {
      JointsDoubleValues actualCurrent = e.OutputDataValues.ActualCurrent;
    };

    //...

    // Write input values in robot
    var inputValues = new RtdeInputValues();
    inputValues.InputIntRegisters.X4 = 12;
    inputValues.StandardAnalogOutput0 = 0.2;
    client.WriteInputs(inputValues);

    //...

    // Close connection to the robot
    client.Disconnect();
    
  }
}

In order for your robot to accept writing registers commands, it must be in “Remote” mode, which can be selected using the switch located at the top right of Polyscope.

switch remote

Setup connection

RTDE is not activated by default when connecting to the robot. You must set the Enable property in the connection settings.

In this same object, you must add the inputs and outputs you want to exchange with the robot.

To do this, use the Add function on InputSetup and OutputSetup to add the data to exchange. This function takes as parameter an enum RtdeOutputData or RtdeInputData.

In the case of array registers, e.g. RtdeOutputData.OutputDoubleRegisters or RtdeInputData.InputIntRegisters, it is necessary to additionally specify the register number as the second parameter of Add. Please refer to the register comment for the register size and the upper and lower range.

You can also specify a frequency of data reception. By default, if nothing is set, the communication is at 10Hz. The Frequency property of the setup parameters allows you to change the frequency up to 500Hz.

If the frequency is set to 0, the communication will be done at the maximum frequency allowed by the robot.

You can also specify the RTDE protocol version. Version 2 allows frequency to be taken into account. If your robot is not compatible with version 2, version 1 is automatically selected. If you do not set the version, version 2 is automatically selected. At runtime, you can control the version actually used via the property Rtde.Version.

using UnderAutomation.UniversalRobots;
using UnderAutomation.UniversalRobots.Rtde;

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

    
    var param = new ConnectParameters("192.168.0.1");

    // Enable RTDE
    param.Rtde.Enable = true;

    // Exchange data at 500Hz
    param.Rtde.Frequency = 500;

    // Set RTDE version
    param.Rtde.Version = RtdeVersions.V2;

    // Select data you want to write in robot controller
    param.Rtde.InputSetup.Add(RtdeInputData.StandardDigitalOutput);
    param.Rtde.InputSetup.Add(RtdeInputData.ExternalForceTorque);
    param.Rtde.InputSetup.Add(RtdeInputData.StandardAnalogOutput1);
    param.Rtde.InputSetup.Add(RtdeInputData.InputBitRegisters, 64);

    // Select data you want the robot to send
    param.Rtde.OutputSetup.Add(RtdeOutputData.ActualTcpPose);
    param.Rtde.OutputSetup.Add(RtdeOutputData.ToolOutputVoltage);
    param.Rtde.OutputSetup.Add(RtdeOutputData.OutputDoubleRegisters, 10);

    // Connect to robot
    robot.Connect(param);
    
    // ...

    robot.Rtde.Disconnect();
  }
}

In the robot, the Real Time Data Exchange (RTDE) must be enabled in the Polyscope settings for security reasons, see : this page

Receive data from robot

The OutputDataReceived event is raised at the frequency of data reception from the robot. It contains the received data, the connection ID and the frequency of data reception estimated from the timestamp if this data is part of the output.

It is possible to access the last received values with the property OutputDataValues.

using UnderAutomation.UniversalRobots;
using UnderAutomation.UniversalRobots.Common;
using UnderAutomation.UniversalRobots.Rtde;

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

    var param = new ConnectParameters("192.168.0.1");

    // Enable RTDE
    param.Rtde.Enable = true;

    // Exchange data at 500Hz
    param.Rtde.Frequency = 500;

    // Set RTDE version
    param.Rtde.Version = RtdeVersions.V2;

    // Select data you want to write in robot controller
    param.Rtde.InputSetup.Add(RtdeInputData.StandardDigitalOutput);
    param.Rtde.InputSetup.Add(RtdeInputData.ExternalForceTorque);
    param.Rtde.InputSetup.Add(RtdeInputData.StandardAnalogOutput1);
    param.Rtde.InputSetup.Add(RtdeInputData.InputBitRegisters, 64);

    // Select data you want the robot to send
    param.Rtde.OutputSetup.Add(RtdeOutputData.ActualTcpPose);
    param.Rtde.OutputSetup.Add(RtdeOutputData.ToolOutputVoltage);
    param.Rtde.OutputSetup.Add(RtdeOutputData.OutputDoubleRegisters, 10);

    // Connect to robot
    robot.Connect(param);
    
    // Get latest received data
    Pose actualTcpPose = robot.Rtde.OutputDataValues.ActualTcpPose;
    double x = actualTcpPose.X;
    double y = actualTcpPose.Y;
    double z = actualTcpPose.Z;
    int toolOutputVoltage = robot.Rtde.OutputDataValues.ToolOutputVoltage;
    double outputDoubleRegisters10 = robot.Rtde.OutputDataValues.OutputDoubleRegisters.X10;

    // Subscribe to event to receive data is real time
    robot.Rtde.OutputDataReceived += (o, e) =>
    {
      double realFreq = e.MeasuredFrequency;

      Pose pose = robot.Rtde.OutputDataValues.ActualTcpPose;
      int voltage = robot.Rtde.OutputDataValues.ToolOutputVoltage;

      double register10 = robot.Rtde.OutputDataValues.OutputDoubleRegisters.X10;
    };
    
    // ...

    robot.Rtde.Disconnect();
  }
}

Send data to robot

To write data, simply instantiate an RtdeInputValues list and fill the fields with your values. Then call the WriteInputs function to send these values to the robot.

using UnderAutomation.UniversalRobots;
using UnderAutomation.UniversalRobots.Common;
using UnderAutomation.UniversalRobots.Rtde;

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

    var param = new ConnectParameters("192.168.0.1");

    // Enable RTDE
    param.Rtde.Enable = true;

    // Exchange data at 500Hz
    param.Rtde.Frequency = 500;

    // Set RTDE version
    param.Rtde.Version = RtdeVersions.V2;

    // Select data you want to write in robot controller
    param.Rtde.InputSetup.Add(RtdeInputData.StandardDigitalOutput);
    param.Rtde.InputSetup.Add(RtdeInputData.ExternalForceTorque);
    param.Rtde.InputSetup.Add(RtdeInputData.StandardAnalogOutput1);
    param.Rtde.InputSetup.Add(RtdeInputData.InputBitRegisters, 64);

    // Select data you want the robot to send
    param.Rtde.OutputSetup.Add(RtdeOutputData.ActualTcpPose);
    param.Rtde.OutputSetup.Add(RtdeOutputData.ToolOutputVoltage);
    param.Rtde.OutputSetup.Add(RtdeOutputData.OutputDoubleRegisters, 10);

    // Connect to robot
    robot.Connect(param);
    
    var inputs = new RtdeInputValues();
    inputs.StandardDigitalOutput = 128;
    inputs.ExternalForceTorque = new CartesianCoordinates(0, 0, 1, 0, 0, 0.1);
    inputs.StandardAnalogOutput1 = 0.1;
    inputs.InputBitRegisters.X64 = true;

    // Send data to robot
    robot.Rtde.WriteInputs(inputs);
    
    // ...

    robot.Rtde.Disconnect();
  }
}

Pause and resume

The Pause method allow the connection to be paused without being closed, so no data is received. It is possible to resume the stream with the Resume function.

using UnderAutomation.UniversalRobots;
using UnderAutomation.UniversalRobots.Rtde;

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

    var param = new ConnectParameters("192.168.0.1");

    // Enable RTDE
    param.Rtde.Enable = true;

    // Exchange data at 500Hz
    param.Rtde.Frequency = 500;

    // Set RTDE version
    param.Rtde.Version = RtdeVersions.V2;

    // Select data you want to write in robot controller
    param.Rtde.InputSetup.Add(RtdeInputData.StandardDigitalOutput);
    param.Rtde.InputSetup.Add(RtdeInputData.ExternalForceTorque);
    param.Rtde.InputSetup.Add(RtdeInputData.StandardAnalogOutput1);
    param.Rtde.InputSetup.Add(RtdeInputData.InputBitRegisters, 64);

    // Select data you want the robot to send
    param.Rtde.OutputSetup.Add(RtdeOutputData.ActualTcpPose);
    param.Rtde.OutputSetup.Add(RtdeOutputData.ToolOutputVoltage);
    param.Rtde.OutputSetup.Add(RtdeOutputData.OutputDoubleRegisters, 10);

    // Connect to robot
    robot.Connect(param);

    //...
    
    // Pause RTDE data streaming from robot
    robot.Rtde.Pause();

    // Event triggered when RTDE is paused
    robot.Rtde.PauseReceived += Rtde_PauseReceived;

    // Resume RTDE after a pause
    robot.Rtde.Resume();

    // RTDE streaming started or resumed
    robot.Rtde.StartReceived += Rtde_StartReceived;
    
    // ...

    robot.Rtde.Disconnect();
  }


  private static void Rtde_PauseReceived(object sender, RtdeBasicRequestEventArgs e)
  {
    if (e.Accepted)
    {
      Console.WriteLine("RTDE has been paused");
    }
    else
    {
      Console.WriteLine("RTDE pause command has failed");
    }
  }

  private static void Rtde_StartReceived(object sender, RtdeBasicRequestEventArgs e)
  {
    if (e.Accepted)
    {
      Console.WriteLine("RTDE streaming has started");
    }
    else
    {
      Console.WriteLine("RTDE streaming start has failed");
    }
  }
}

Other features

The state of the connection can be controlled via the Connected and State properties.

Text messages can be received to describe an error in connection or operation. The last message is stored in LastTextMessage and the TextMessageReceived event is raised when a text message is received.

Likewise, if an internal library error occurs, the InternalErrorOccured event is raised.

using UnderAutomation.UniversalRobots;
using UnderAutomation.UniversalRobots.Rtde;

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

    var param = new ConnectParameters("192.168.0.1");

    // Enable RTDE
    param.Rtde.Enable = true;

    // Exchange data at 500Hz
    param.Rtde.Frequency = 500;

    // Set RTDE version
    param.Rtde.Version = RtdeVersions.V2;

    // Select data you want to write in robot controller
    param.Rtde.InputSetup.Add(RtdeInputData.StandardDigitalOutput);
    param.Rtde.InputSetup.Add(RtdeInputData.ExternalForceTorque);
    param.Rtde.InputSetup.Add(RtdeInputData.StandardAnalogOutput1);
    param.Rtde.InputSetup.Add(RtdeInputData.InputBitRegisters, 64);

    // Select data you want the robot to send
    param.Rtde.OutputSetup.Add(RtdeOutputData.ActualTcpPose);
    param.Rtde.OutputSetup.Add(RtdeOutputData.ToolOutputVoltage);
    param.Rtde.OutputSetup.Add(RtdeOutputData.OutputDoubleRegisters, 10);

    // Connect to robot
    robot.Connect(param);

    //...
    
    // Frequency requested in connect parameters for V2 protocol
    double appliedFrequency = robot.Rtde.AppliedFrequency;

    // RTDE TCP/IP connection is still active
    bool isConnected = robot.Rtde.Connected;

    // Unique ID of the RTDE connection for writing data to the robot
    byte inputRecipe = robot.Rtde.InputRecipeId;

    // Unique ID of the RTDE connection for receiving data from robot
    byte outputRecipe = robot.Rtde.OutputRecipeId;

    // State property has current RTDE state (paused, disabled, started, ...)
    bool isPaused = robot.Rtde.State == RTDEStates.Paused;

    // Special warning text messages sent by the robot
    robot.Rtde.TextMessageReceived += Rtde_TextMessageReceived;

    // Event raised by the library when something went wrong
    robot.Rtde.InternalErrorOccured += Rtde_InternalErrorOccured;
    
    // ...

    robot.Rtde.Disconnect();
  }

  private static void Rtde_InternalErrorOccured(object sender, UnderAutomation.UniversalRobots.Common.InternalErrorEventArgs e)
  {
    throw new NotImplementedException();
  }

  private static void Rtde_TextMessageReceived(object sender, RtdeTextMessageEventArgs e)
  {
    Console.WriteLine(e.Source);
    Console.WriteLine(e.Message);
    Console.WriteLine(e.WarningLevel);
  }
}

API reference

Class

RtdeClientBaseinherits URServiceBase

C#Python

Base class common to all RTDE clients

Member	Type	Description
RtdeClientBase() Constructor
AppliedFrequency Property read only	double	Output data frequency requested to the robot, only for RTDE version 2
Connected Property read only	bool	Gets a value indicating if RTDE client is connected to the robot
IP Property read only	string	IP address of the robot
InputRecipeId Property read only	byte	Recipe Identifier of input sent data
InputRecipeIsValid Property read only	bool	Indicates that the recipe is valid, i.e. that all the registers have been found and are not already reserved for writing by another RTDE client. Check event SetupInputsReceived to see which registers are NOT_FOUND or IN_USE
InputSetup Property read only	RtdeInputSetupItem[]	List of all data the PC can write to the robot (robot point of view)
LastTextMessage Property read only	RtdeTextMessageEventArgs	Last text received from the robot
MeasuredFrequency Property read only	double	Measured output data packet frequency. "Timestamp" output data shoud be part of output setup to measure frequency.
OutputDataValues Property read only	RtdeOutputValues	Last data received from the robot
OutputRecipeId Property read only	byte	Recipe Identifier of output received data
OutputSetup Property read only	RtdeOutputSetupItem[]	List of all data sent from the robot to the PC (robot point of view)
State Property read only	RTDEStates	Current RTDE state
Version Property read only	RtdeVersions	Current protocol version used to stream data
OutputDataReceived Event	EventHandler<RtdeDataPackageEventArgs>	Event raised when data from the robot is comming at specified frequency
PackageReceived Event	EventHandler<PackageEventArgs>	Generic event raised each time a RTDE package is received
PauseReceived Event	EventHandler<RtdeBasicRequestEventArgs>	Event raised when streaming is paused
ProtocolVersionReceived Event	EventHandler<RtdeProtocolVersionEventArgs>	Event raised during connection when the robot specifies if asked protocol version is supported
SetupInputsReceived Event	EventHandler<RtdeControlPackageSetupInputsEventArgs>	Event raised during connection when the robot acknowledges input setup
SetupOutputsReceived Event	EventHandler<RtdeControlPackageSetupOutputsEventArgs>	Event raised during connection when the robot acknowledges output setup
StartReceived Event	EventHandler<RtdeBasicRequestEventArgs>	Event raised as soon as data streaming starts
TextMessageReceived Event	EventHandler<RtdeTextMessageEventArgs>	Event raised when a RTDE message is received
ConnectInternal(string, int, RtdeOutputSetup, RtdeInputSetup, RtdeVersions, double) Method	void
Disconnect() Method	void	Close the RTDE connection to the robot
Pause() Method	void	Pause data streaming without disconnecting client
Resume() Method	void	Restart data streaming after a Pause
WriteInputs(RtdeInputValues) Method	void	Write data to controller. Data must be those selected in connect parameters

Class

RtdeParametersBase

C#Python

Base parameters to set up RTDE

Member	Type	Description
RtdeParametersBase() Constructor
Frequency Property	double	For RTDE version 2, you can specify a frequency for output received data. Maximum frequency depends on your robot version. If you set frequency to 0, maximum frequency will be choosen Default value is 10Hz
InputSetup Property	RtdeInputSetup	List of all input data you can send to the robot
OutputSetup Property	RtdeOutputSetup	List of all output data the robot will send to your application
Port Property	int	TCP port used for RTDE connection. Default : 30004
Version Property	RtdeVersions	RTDE version. If set to Auto, the most recent version will be choosen according to your robot version Default value is V2
DEFAULT_PORT Field	int	Default RTDE TCP port used (30004)

Enum

RtdeVersions

C#Python

RTDE version numbers

Name	Value	Description
V1	1	Rtde version 1
V2	2	Rtde version 2

Enum

RtdeOutputData

C#Python

Name	Value	Description
ActualCurrent	8	Actual joint currents
ActualDigitalInputBits	15	Current state of the digital inputs. 0-7: Standard, 8-15: Configurable, 16-17: Tool
ActualDigitalOutputBits	30	Current state of the digital outputs. 0-7: Standard, 8-15: Configurable, 16-17: Tool
ActualExecutionTime	17	Controller real-time thread execution time
ActualJointVoltage	29	Actual joint voltages
ActualMainVoltage	26	Safety Control Board: Main voltage
ActualMomentum	25	Norm of Cartesian linear momentum
ActualQ	6	Actual joint positions
ActualQd	7	Actual joint velocities
ActualRobotCurrent	28	Safety Control Board: Robot current
ActualRobotVoltage	27	Safety Control Board: Robot voltage (48V)
ActualTcpForce	12	Generalized forces in the TCP. It compensates the measurement for forces and torques generated by the payload
ActualTcpPose	10	Actual Cartesian coordinates of the tool: (x,y,z,rx,ry,rz), where rx, ry and rz is a rotation vector representation of the tool orientation
ActualTcpSpeed	11	Actual speed of the tool given in Cartesian coordinates. The speed is given in [m/s] and the rotational part of the TCP speed (rx, ry, rz) is the angular velocity given in [rad/s]
ActualToolAccelerometer	22	Tool x, y and z accelerometer values
AnalogIOTypes	36	Bits 0-3: analog input 0 \| analog input 1 \| analog output 0 \| analog output 1, {0=current[mA], 1=voltage[V]}
ElbowPosition	32	Position of robot elbow in Cartesian Base Coordinates
ElbowVelocity	33	Velocity of robot elbow in Cartesian Base Coordinates
Euromap67InputBits	42	Euromap67 input bits
Euromap67OutputBits	43	Euromap67 output bits
Euromap67_24VCurrent	45	Euromap 24V current [mA]
Euromap67_24VVoltage	44	Euromap 24V voltage [V]
FTRawWrench	71	Raw force and torque measurement, not compensated for forces and torques caused by the payload
IOCurrent	41	I/O current [mA]
InputBitRegisters	61	64 general purpose bits, X: [64..127] - The upper range of the boolean output registers can be used by external RTDE clients (i.e URCAPS).
InputBitRegisters0To31	59	General purpose bits (input read back). This range of the boolean output registers is reserved for FieldBus/PLC interface usage.
InputBitRegisters32To63	60	General purpose bits (input read back), This range of the boolean output registers is reserved for FieldBus/PLC interface usage.
InputDoubleRegisters	63	48 general purpose double registers. X: [0..23] - The lower range of the double input registers is reserved for FieldBus/PLC interface usage. X: [24..47] - The upper range of the double input registers can be used by external RTDE clients (i.e URCAPS).
InputIntRegisters	62	48 general purpose integer registers. X: [0..23] - The lower range of the integer input registers is reserved for FieldBus/PLC interface usage. X: [24..47] - The upper range of the integer input registers can be used by external RTDE clients (i.e URCAPS).
JointControlOutput	9	Joint control currents
JointMode	19	Joint control modes
JointTemperatures	16	Temperature of each joint in degrees Celsius
OutputBitRegisters	56	64 general purpose bits. X: [64..127] - The upper range of the boolean output registers can be used by external RTDE clients (i.e URCAPS).
OutputBitRegisters0To31	54	General purpose bits
OutputBitRegisters32To63	55	General purpose bits
OutputDoubleRegisters	58	48 general purpose double registers. X: [0..23] - The lower range of the double output registers is reserved for FieldBus/PLC interface usage. X: [24..47] - The upper range of the double output registers can be used by external RTDE clients (i.e URCAPS).
OutputIntRegisters	57	48 general purpose integer registers. X: [0..23] - The lower range of the integer output registers is reserved for FieldBus/PLC interface usage. X: [24..47] - The upper range of the integer output registers can be used by external RTDE clients (i.e URCAPS).
Payload	67	Payload mass Kg
PayloadCOG	68	Payload Center of Gravity (CoGx, CoGy, CoGz) m
PayloadInertia	69	Payload inertia matrix elements (Ixx,Iyy,Izz,Ixy,Ixz,Iyz] expressed in kg*m^2
RobotMode	18	Robot mode
RobotStatusBits	34	Bits 0-3:Is power on \| Is program running \| Is teach button pressed \| Is power button pressed
RuntimeState	31	Program state
SafetyMode	20	Safety mode
SafetyStatus	21	Safety status
SafetyStatusBits	35	Bits 0-10: Is normal mode \| Is reduced mode \| Is protective stopped \| Is recovery mode \| Is safeguard stopped \| Is system emergency stopped \| Is robot emergency stopped \| Is emergency stopped \| Is violation \| Is fault \| Is stopped due to safety
ScriptControlLine	70	Script line number that is actually in control of the robot given the robot is locked by one of the threads in the script. If no thread is locking the robot this field is set to '0'. Script line number should not be confused with program tree line number displayed on polyscope.
SpeedScaling	23	Speed scaling of the trajectory limiter
StandardAnalogInput0	37	Standard analog input 0 [mA or V]
StandardAnalogInput1	38	Standard analog input 1 [mA or V]
StandardAnalogOutput0	39	Standard analog output 0 [mA or V]
StandardAnalogOutput1	40	Standard analog output 1 [mA or V]
TargetCurrent	4	Target joint currents
TargetMoment	5	Target joint moments (torques)
TargetQ	1	Target joint positions
TargetQd	2	Target joint velocities
TargetQdd	3	Target joint accelerations
TargetSpeedFraction	24	Target speed fraction
TargetTcpPose	13	Target Cartesian coordinates of the tool: (x,y,z,rx,ry,rz), where rx, ry and rz is a rotation vector representation of the tool orientation
TargetTcpSpeed	14	Target speed of the tool given in Cartesian coordinates. The speed is given in [m/s] and the rotational part of the TCP speed (rx, ry, rz) is the angular velocity given in [rad/s]
TcpForceScalar	53	TCP force scalar [N]
Timestamp	0	Time elapsed since the controller was started [s]
ToolAnalogInput0	48	Tool analog input 0 [mA or V]
ToolAnalogInput1	49	Tool analog input 1 [mA or V]
ToolAnalogInputTypes	47	Output domain {0=current[mA], 1=voltage[V]} Bits 0-1: tool_analog_input_0 \| tool_analog_input_1
ToolDigitalOutput0mode	65	The current mode of digital output 0
ToolDigitalOutput1Mode	66	The current mode of digital output 1
ToolMode	46	Tool mode
ToolOutputCurrent	51	Tool current [mA]
ToolOutputMode	64	The current output mode
ToolOutputVoltage	50	Tool output voltage [V]
ToolTemperature	52	Tool temperature in degrees Celsius

Enum

RtdeInputData

C#Python

Name	Value	Description
ConfigurableDigitalOutput	5	Configurable digital outputs
ConfigurableDigitalOutputMask	3	Configurable digital output bit mask
ExternalForceTorque	15	Input external wrench when using ft_rtde_input_enable builtin.
InputBitRegisters	12	64 general purpose bits. X: [64..127] - The upper range of the boolean input registers can be used by external RTDE clients (i.e URCAPS).
InputBtRegisters0To31	10	General purpose bits. This range of the boolean input registers is reserved for FieldBus/PLC interface usage.
InputBtRegisters32To63	11	General purpose bits. This range of the boolean input registers is reserved for FieldBus/PLC interface usage.
InputDoubleRegisters	14	48 general purpose double registers. X: [0..23] - The lower range of the double input registers is reserved for FieldBus/PLC interface usage. X: [24..47] - The upper range of the double input registers can be used by external RTDE clients (i.e URCAPS).
InputIntRegisters	13	48 general purpose integer registers. X: [0..23] - The lower range of the integer input registers is reserved for FieldBus/PLC interface usage. X: [24..47] - The upper range of the integer input registers can be used by external RTDE clients (i.e URCAPS).
SpeedSliderFraction	1	new speed slider value
SpeedSliderMask	0	0 = don't change speed slider with this input, 1 = use speed_slider_fraction to set speed slider value
StandardAnalogOutput0	8	Standard analog output 0 (ratio) [0..1]
StandardAnalogOutput1	9	Standard analog output 1 (ratio) [0..1]
StandardAnalogOutputMask	6	Standard analog output mask
StandardAnalogOutputType	7	Output domain {0=current[mA], 1=voltage[V]}. Bits 0-1: standard_analog_output_0 \| standard_analog_output_1
StandardDigitalOutput	4	Standard digital outputs
StandardDigitalOutputMask	2	Standard digital output bit mask

Class

RtdeInputValuesinherits RtdeBaseValues<RtdeInputData>

C#Python

Member	Type	Description
RtdeInputValues() Constructor
ConfigurableDigitalOutput Property	byte	Configurable digital outputs
ConfigurableDigitalOutputMask Property	byte	Configurable digital output bit mask
ExternalForceTorque Property	CartesianCoordinates	Input external wrench when using ft_rtde_input_enable builtin.
InputBitRegisters Property read only	RtdeBitRegistersValue	64 general purpose bits. X: [64..127] - The upper range of the boolean input registers can be used by external RTDE clients (i.e URCAPS).
InputBtRegisters0To31 Property	uint	General purpose bits. This range of the boolean input registers is reserved for FieldBus/PLC interface usage.
InputBtRegisters32To63 Property	uint	General purpose bits. This range of the boolean input registers is reserved for FieldBus/PLC interface usage.
InputDoubleRegisters Property read only	RtdeDoubleRegistersValue	48 general purpose double registers. X: [0..23] - The lower range of the double input registers is reserved for FieldBus/PLC interface usage. X: [24..47] - The upper range of the double input registers can be used by external RTDE clients (i.e URCAPS).
InputIntRegisters Property read only	RtdeIntRegistersValue	48 general purpose integer registers. X: [0..23] - The lower range of the integer input registers is reserved for FieldBus/PLC interface usage. X: [24..47] - The upper range of the integer input registers can be used by external RTDE clients (i.e URCAPS).
InternalValues Property read only	RtdeValue[]
SpeedSliderFraction Property	double	new speed slider value
SpeedSliderMask Property	uint	0 = don't change speed slider with this input, 1 = use speed_slider_fraction to set speed slider value
StandardAnalogOutput0 Property	double	Standard analog output 0 (ratio) [0..1]
StandardAnalogOutput1 Property	double	Standard analog output 1 (ratio) [0..1]
StandardAnalogOutputMask Property	byte	Standard analog output mask
StandardAnalogOutputType Property	byte	Output domain {0=current[mA], 1=voltage[V]}. Bits 0-1: standard_analog_output_0 \| standard_analog_output_1
StandardDigitalOutput Property	byte	Standard digital outputs
StandardDigitalOutputMask Property	byte	Standard digital output bit mask
GetValue(RtdeInputSetupItem) Method	object
InternaleGetValue(RtdeInputData) Method	RtdeValue
Reset() Method	void
SetValue(RtdeInputData, int, object) Method	void
SetValue(RtdeInputData, object) Method	void
SetValue(RtdeInputSetupItem, object) Method	void

Class

RtdeOutputValuesinherits RtdeBaseValues<RtdeOutputData>

C#Python

Member	Type	Description
ActualCurrent Property	JointsDoubleValues	Actual joint currents
ActualDigitalInputBits Property	ulong	Current state of the digital inputs. 0-7: Standard, 8-15: Configurable, 16-17: Tool
ActualDigitalOutputBits Property	ulong	Current state of the digital outputs. 0-7: Standard, 8-15: Configurable, 16-17: Tool
ActualExecutionTime Property	double	Controller real-time thread execution time
ActualJointVoltage Property	JointsDoubleValues	Actual joint voltages
ActualMainVoltage Property	double	Safety Control Board: Main voltage
ActualMomentum Property	double	Norm of Cartesian linear momentum
ActualQ Property	JointsDoubleValues	Actual joint positions
ActualQd Property	JointsDoubleValues	Actual joint velocities
ActualRobotCurrent Property	double	Safety Control Board: Robot current
ActualRobotVoltage Property	double	Safety Control Board: Robot voltage (48V)
ActualTcpForce Property	CartesianCoordinates	Generalized forces in the TCP. It compensates the measurement for forces and torques generated by the payload
ActualTcpPose Property	Pose	Actual Cartesian coordinates of the tool: (x,y,z,rx,ry,rz), where rx, ry and rz is a rotation vector representation of the tool orientation
ActualTcpSpeed Property	Pose	Actual speed of the tool given in Cartesian coordinates. The speed is given in [m/s] and the rotational part of the TCP speed (rx, ry, rz) is the angular velocity given in [rad/s]
ActualToolAccelerometer Property	Vector3D	Tool x, y and z accelerometer values
AnalogIOTypes Property	uint	Bits 0-3: analog input 0 \| analog input 1 \| analog output 0 \| analog output 1, {0=current[mA], 1=voltage[V]}
ElbowPosition Property	Vector3D	Position of robot elbow in Cartesian Base Coordinates
ElbowVelocity Property	Vector3D	Velocity of robot elbow in Cartesian Base Coordinates
Euromap67InputBits Property	uint	Euromap67 input bits
Euromap67OutputBits Property	uint	Euromap67 output bits
Euromap67_24VCurrent Property	double	Euromap 24V current [mA]
Euromap67_24VVoltage Property	double	Euromap 24V voltage [V]
FTRawWrench Property	CartesianCoordinates	Raw force and torque measurement, not compensated for forces and torques caused by the payload
IOCurrent Property	double	I/O current [mA]
InputBitRegisters Property read only	RtdeBitRegistersValue	64 general purpose bits, X: [64..127] - The upper range of the boolean output registers can be used by external RTDE clients (i.e URCAPS).
InputBitRegisters0To31 Property	uint	General purpose bits (input read back). This range of the boolean output registers is reserved for FieldBus/PLC interface usage.
InputBitRegisters32To63 Property	uint	General purpose bits (input read back), This range of the boolean output registers is reserved for FieldBus/PLC interface usage.
InputDoubleRegisters Property read only	RtdeDoubleRegistersValue	48 general purpose double registers. X: [0..23] - The lower range of the double input registers is reserved for FieldBus/PLC interface usage. X: [24..47] - The upper range of the double input registers can be used by external RTDE clients (i.e URCAPS).
InputIntRegisters Property read only	RtdeIntRegistersValue	48 general purpose integer registers. X: [0..23] - The lower range of the integer input registers is reserved for FieldBus/PLC interface usage. X: [24..47] - The upper range of the integer input registers can be used by external RTDE clients (i.e URCAPS).
InternalValues Property read only	RtdeValue[]
JointControlOutput Property	JointsDoubleValues	Joint control currents
JointMode Property	JointsIntValues	Joint control modes
JointTemperatures Property	JointsDoubleValues	Temperature of each joint in degrees Celsius
OutputBitRegisters Property read only	RtdeBitRegistersValue	64 general purpose bits. X: [64..127] - The upper range of the boolean output registers can be used by external RTDE clients (i.e URCAPS).
OutputBitRegisters0To31 Property	uint	General purpose bits
OutputBitRegisters32To63 Property	uint	General purpose bits
OutputDoubleRegisters Property read only	RtdeDoubleRegistersValue	48 general purpose double registers. X: [0..23] - The lower range of the double output registers is reserved for FieldBus/PLC interface usage. X: [24..47] - The upper range of the double output registers can be used by external RTDE clients (i.e URCAPS).
OutputIntRegisters Property read only	RtdeIntRegistersValue	48 general purpose integer registers. X: [0..23] - The lower range of the integer output registers is reserved for FieldBus/PLC interface usage. X: [24..47] - The upper range of the integer output registers can be used by external RTDE clients (i.e URCAPS).
Payload Property	double	Payload mass Kg
PayloadCOG Property	Vector3D	Payload Center of Gravity (CoGx, CoGy, CoGz) m
PayloadInertia Property	CartesianCoordinates	Payload inertia matrix elements (Ixx,Iyy,Izz,Ixy,Ixz,Iyz] expressed in kg*m^2
RobotMode Property	int	Robot mode
RobotStatusBits Property	uint	Bits 0-3:Is power on \| Is program running \| Is teach button pressed \| Is power button pressed
RuntimeState Property	uint	Program state
SafetyMode Property	int	Safety mode
SafetyStatus Property	int	Safety status
SafetyStatusBits Property	uint	Bits 0-10: Is normal mode \| Is reduced mode \| Is protective stopped \| Is recovery mode \| Is safeguard stopped \| Is system emergency stopped \| Is robot emergency stopped \| Is emergency stopped \| Is violation \| Is fault \| Is stopped due to safety
ScriptControlLine Property	uint	Script line number that is actually in control of the robot given the robot is locked by one of the threads in the script. If no thread is locking the robot this field is set to '0'. Script line number should not be confused with program tree line number displayed on polyscope.
SpeedScaling Property	double	Speed scaling of the trajectory limiter
StandardAnalogInput0 Property	double	Standard analog input 0 [mA or V]
StandardAnalogInput1 Property	double	Standard analog input 1 [mA or V]
StandardAnalogOutput0 Property	double	Standard analog output 0 [mA or V]
StandardAnalogOutput1 Property	double	Standard analog output 1 [mA or V]
TargetCurrent Property	JointsDoubleValues	Target joint currents
TargetMoment Property	JointsDoubleValues	Target joint moments (torques)
TargetQ Property	JointsDoubleValues	Target joint positions
TargetQd Property	JointsDoubleValues	Target joint velocities
TargetQdd Property	JointsDoubleValues	Target joint accelerations
TargetSpeedFraction Property	double	Target speed fraction
TargetTcpPose Property	Pose	Target Cartesian coordinates of the tool: (x,y,z,rx,ry,rz), where rx, ry and rz is a rotation vector representation of the tool orientation
TargetTcpSpeed Property	Pose	Target speed of the tool given in Cartesian coordinates. The speed is given in [m/s] and the rotational part of the TCP speed (rx, ry, rz) is the angular velocity given in [rad/s]
TcpForceScalar Property	double	TCP force scalar [N]
Timestamp Property	double	Time elapsed since the controller was started [s]
ToolAnalogInput0 Property	double	Tool analog input 0 [mA or V]
ToolAnalogInput1 Property	double	Tool analog input 1 [mA or V]
ToolAnalogInputTypes Property	uint	Output domain {0=current[mA], 1=voltage[V]} Bits 0-1: tool_analog_input_0 \| tool_analog_input_1
ToolDigitalOutput0mode Property	byte	The current mode of digital output 0
ToolDigitalOutput1Mode Property	byte	The current mode of digital output 1
ToolMode Property	uint	Tool mode
ToolOutputCurrent Property	double	Tool current [mA]
ToolOutputMode Property	byte	The current output mode
ToolOutputVoltage Property	int	Tool output voltage [V]
ToolTemperature Property	double	Tool temperature in degrees Celsius
GetValue(RtdeOutputSetupItem) Method	object
InternaleGetValue(RtdeOutputData) Method	RtdeValue

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RTDE : Real-Time Data Exchange

Overview

Overview of RTDE

Setup connection

Receive data from robot

Send data to robot

Pause and resume

Other features

API reference