How to specify movel or movej with RTDE

Hi, I downloaded the 2.6.0 rtde file from the UR website, and have been able to run the successfully. All I have done so far is change the setp1 and setp2 values. I want to change the velocity/acceleration of the movements, and specify whether I want the movement to be a movej or movel. How do I do this? Also, how do I set digital outputs through RTDE?

I am just using the folder from the UR website and am not interested in downloaded other 3rd party packages if I don’t need to.


This tutorial might help you:
Universal Robot RTDE tutorial #6 (Full program implementation Part 3/4) - YouTube

Good luck,