# Active TCP offsets over RTDE

**URL:** <https://forum.universal-robots.com/t/active-tcp-offsets-over-rtde/18509>\
**Category:** SDK and API\
**Created:** [January 7, 2022, 1:05pm UTC](https://forum.universal-robots.com/t/active-tcp-offsets-over-rtde/18509 "2022-01-07T13:05:22Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![mohamedghita](https://avatars.discourse-cdn.com/v4/letter/m/e9a140/32.png) [@mohamedghita](https://forum.universal-robots.com/u/mohamedghita)\
**Post date:** [January 7, 2022, 1:05pm UTC](https://forum.universal-robots.com/t/active-tcp-offsets-over-rtde/18509/1 "2022-01-07T13:05:23Z")

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# Summary

_Send Active TCP offsets over RTDE_

# What is it?

_It seems that all possible variables are sent over RTDE even payload, cog, … but TCP offsets are not included in the output package._

# Why is it needed?

_TCP offsets are probably sent by other robot interfaces but it is handy to get everything from one powerful interface such as RTDE_

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<div class="post-metadata">

**Author:** ![Adam](https://avatars.discourse-cdn.com/v4/letter/a/4af34b/32.png) [@Adam](https://forum.universal-robots.com/u/Adam)\
**Post date:** [March 20, 2024, 1:34pm UTC](https://forum.universal-robots.com/t/active-tcp-offsets-over-rtde/18509/2 "2024-03-20T13:34:18Z")

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I agree, this would be a very helpful feature. Especially since the active TCP offset is broadcast over the primary and secondary TCP/IP interfaces.