# Difference in available State information between Modbus Server and RTDE Server

**URL:** <https://forum.universal-robots.com/t/difference-in-available-state-information-between-modbus-server-and-rtde-server/9131>\
**Category:** Robot Communication\
**Tags:** rtde, modbus\
**Created:** [October 15, 2020, 6:35am UTC](https://forum.universal-robots.com/t/difference-in-available-state-information-between-modbus-server-and-rtde-server/9131 "2020-10-15T06:35:08Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![gomathisankar](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/gomathisankar/32/607_2.png) [@gomathisankar](https://forum.universal-robots.com/u/gomathisankar)\
**Post date:** [October 15, 2020, 6:35am UTC](https://forum.universal-robots.com/t/difference-in-available-state-information-between-modbus-server-and-rtde-server/9131/1 "2020-10-15T06:35:08Z")

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UR cobots has below states

Power Off, Power On, Security Stopped,Emergency stopped,Teach button pressed, Power button pressed, Safety Signal on, Connected, Disconnected, Booting, Running, Idle,Fault, Shutdown, Back drive, Ready,Confirm Safety,No Controller,Free Drive,Initialising,Unknown

If we query modbus server, we would get any one of these states as response.

As per RTD documentation (robot\_status\_bits and safety\_status\_bits) in [Real-Time Data Exchange (RTDE) Guide - 22229](https://www.universal-robots.com/articles/ur/real-time-data-exchange-rtde-guide/), we can collect only these below different robots states.

bot\_status\_bits  
Bits 0-3: Is power on | Is program running | Is teach button pressed | Is power button pressed

safety\_status\_bits   
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

There is a difference, Modbus server has more state information than RTDE server.  
Can we map all the states given by Mobbus server to the same of RTDE  
Or is there any way in RTDE, we can receive all the states that are supported in Modbus

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**Author:** ![krmi](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/krmi/32/1945_2.png) [@krmi](https://forum.universal-robots.com/u/krmi)\
**Post date:** [January 25, 2021, 1:48pm UTC](https://forum.universal-robots.com/t/difference-in-available-state-information-between-modbus-server-and-rtde-server/9131/2 "2021-01-25T13:48:20Z")

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Hello,

RTDE does have the “safety\_status\_bits” function; it is right below the “robot\_status\_bits” output in the RTDE article you linked and mirrors the same Modbus output.