Hello!
What is the best way to get the TCP speed with Python while a URP program is running?
I know how to do a UR-Script sending stuff via TCP but as far as I know I cannot run an URP program and UR script at the same time??!
What would be the best solution?
The Python Real Time Data Exchange (RTDE) will allow you to constantly exchange any available information from the robot:
https://www.universal-robots.com/articles/ur/interface-communication/real-time-data-exchange-rtde-guide/
And on github:
actual_TCP_speed is a VECTOR6D type of data which corresponds to:
- x_axis speed in m/s
- y_axis speed in m/s
- z_axis speed in m/s
- x_rotational speed in rad/s
- y_rotational speed in rad/s
- z_rotational speed in rad/s
And you can manipulate it like you would do with any list.
Hope it helped 
Cool than you but is this libary also working with old CB2 and Polyscope 1.8 ?
I think it will only work on the newer e-Series.
I just added a thread into the program sending the TCP speed via socket to the raspberry pi. Works fine!