# Acquisition Frequency of the Analog Input on UR10e

**URL:** <https://forum.universal-robots.com/t/acquisition-frequency-of-the-analog-input-on-ur10e/18245>\
**Category:** Robot Communication\
**Created:** [December 19, 2021, 7:15am UTC](https://forum.universal-robots.com/t/acquisition-frequency-of-the-analog-input-on-ur10e/18245 "2021-12-19T07:15:58Z")\
**Posts on this page:** 5\
**Page:** 1

<div class="post-metadata">

**Author:** ![eehwee.lim](https://avatars.discourse-cdn.com/v4/letter/e/2bfe46/32.png) [@eehwee.lim](https://forum.universal-robots.com/u/eehwee.lim)\
**Post date:** [December 19, 2021, 7:15am UTC](https://forum.universal-robots.com/t/acquisition-frequency-of-the-analog-input-on-ur10e/18245/1 "2021-12-19T07:15:58Z")

</div>

Hi,

I am working on a project that feeds an ultrasonic scanning signal output into the analog input port of UR10e. The frequency of the analog signal is around 500 Hz. Does anyone know what the signal acquisition frequency of the UR10e is for analog input?

Thanks!  
EH

---

<div class="post-metadata">

**Author:** ![jor](https://avatars.discourse-cdn.com/v4/letter/j/958977/32.png) [@jor](https://forum.universal-robots.com/u/jor)\
**Post date:** [December 20, 2021, 3:57pm UTC](https://forum.universal-robots.com/t/acquisition-frequency-of-the-analog-input-on-ur10e/18245/2 "2021-12-20T15:57:16Z")

</div>

Hi eehwee.lim

For e-Series robot you can acquire data at 500Hz if you use the [Real-Time-Data-Exchange](https://www.universal-robots.com/articles/ur/interface-communication/real-time-data-exchange-rtde-guide/)  
(For CB-series robot you can acquire data at 125Hz using the same interface)  
**Beware** there is no delivery guarantee!

In case you are looking for a C++ library then look here [SDU Robotics / ur\_rtde · GitLab](https://gitlab.com/sdurobotics/ur_rtde)

---

<div class="post-metadata">

**Author:** ![jzamora](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/jzamora/32/5520_2.png) [@jzamora](https://forum.universal-robots.com/u/jzamora)\
**Post date:** [February 11, 2022, 8:18am UTC](https://forum.universal-robots.com/t/acquisition-frequency-of-the-analog-input-on-ur10e/18245/3 "2022-02-11T08:18:08Z")

</div>

Could someone confirm that the UR’s analog input acquisition frequency is (at least) 500Hz? Otherwise reading RTDE would return repeated values.

---

<div class="post-metadata">

**Author:** ![jor](https://avatars.discourse-cdn.com/v4/letter/j/958977/32.png) [@jor](https://forum.universal-robots.com/u/jor)\
**Post date:** [February 11, 2022, 8:34am UTC](https://forum.universal-robots.com/t/acquisition-frequency-of-the-analog-input-on-ur10e/18245/4 "2022-02-11T08:34:45Z")

</div>

I can confirm that the analog input acquisition frequency is at least 500Hz for e-Series robots.  
**Beware** there is no delivery guarantee on RTDE!

---

<div class="post-metadata">

**Author:** ![jzamora](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/jzamora/32/5520_2.png) [@jzamora](https://forum.universal-robots.com/u/jzamora)\
**Post date:** [February 11, 2022, 10:59am UTC](https://forum.universal-robots.com/t/acquisition-frequency-of-the-analog-input-on-ur10e/18245/5 "2022-02-11T10:59:24Z")

</div>

Thank you for your fast reply @jor! 🙏