# How to execute a time-series reference joint angles by UR-RTDE?

**URL:** <https://forum.universal-robots.com/t/how-to-execute-a-time-series-reference-joint-angles-by-ur-rtde/39116>\
**Category:** Technical Questions\
**Created:** [March 19, 2025, 10:54am UTC](https://forum.universal-robots.com/t/how-to-execute-a-time-series-reference-joint-angles-by-ur-rtde/39116 "2025-03-19T10:54:09Z")\
**Posts on this page:** 4\
**Page:** 1

<div class="post-metadata">

**Author:** ![wu.menghung](https://avatars.discourse-cdn.com/v4/letter/w/9de0a6/32.png) [@wu.menghung](https://forum.universal-robots.com/u/wu.menghung)\
**Post date:** [March 19, 2025, 10:54am UTC](https://forum.universal-robots.com/t/how-to-execute-a-time-series-reference-joint-angles-by-ur-rtde/39116/1 "2025-03-19T10:54:09Z")

</div>

Hello,  
i am trying to find the best practice for execute a time-series reference joint angles without stopping at intermediate points.  
The “time-series reference joint angles” here means a data structure like [JointTrajectory](https://docs.ros.org/en/noetic/api/trajectory_msgs/html/msg/JointTrajectory.html) in ros which includes bunch of joint angle+velocity+acceleration list and a “target reach time” for each point in this list.  
I know that moveJ API can pass joint angle+velocity+acceleration lists with a blend radius, but there is no argument for “target reach time” in moveJ API. Furthermore i want to make robot pass all the intermediate point so i have to set blend radius to zero, but it will result stopping at every intermediate points, doesn’t it?

Also I know ros control framework can achieve this, i just wondering is there any way to do the same execution without using ros.

Any advice would be appreciated.

---

<div class="post-metadata">

**Author:** ![eric.feldmann](https://avatars.discourse-cdn.com/v4/letter/e/94ad74/32.png) [@eric.feldmann](https://forum.universal-robots.com/u/eric.feldmann)\
**Post date:** [March 19, 2025, 2:01pm UTC](https://forum.universal-robots.com/t/how-to-execute-a-time-series-reference-joint-angles-by-ur-rtde/39116/2 "2025-03-19T14:01:46Z")

</div>

![image](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/5/59bd4c0d6cba1b268fe7a77ce5f5aa0a32773b71.png)

MoveJ does have a Time input parameter.

Yes a blend radius of 0 will stop at each point, so you’d have to put a very small blend I think.

---

<div class="post-metadata">

**Author:** ![wu.menghung](https://avatars.discourse-cdn.com/v4/letter/w/9de0a6/32.png) [@wu.menghung](https://forum.universal-robots.com/u/wu.menghung)\
**Post date:** [March 21, 2025, 1:11am UTC](https://forum.universal-robots.com/t/how-to-execute-a-time-series-reference-joint-angles-by-ur-rtde/39116/3 "2025-03-21T01:11:55Z")

</div>

Thanks for reply.  
I noticed that ur-rtde doesn’t use a time parameter.  
[rtde\_control\_interface.cpp](https://gitlab.com/sdurobotics/ur_rtde/-/blob/master/src/rtde_control_interface.cpp?ref_type=heads#L2398)  
Should I use ur-script directly instead of using ur-rtde if i want to pass time argument?

---

<div class="post-metadata">

**Author:** ![eric.feldmann](https://avatars.discourse-cdn.com/v4/letter/e/94ad74/32.png) [@eric.feldmann](https://forum.universal-robots.com/u/eric.feldmann)\
**Post date:** [March 21, 2025, 12:16pm UTC](https://forum.universal-robots.com/t/how-to-execute-a-time-series-reference-joint-angles-by-ur-rtde/39116/4 "2025-03-21T12:16:57Z")

</div>

I’ll confess I’m not very familiar with the RTDE. If you truly need a time parameter and it doesn’t have it, then sure maybe give the URscript a try.