# How to specify movel or movej with RTDE

**URL:** https://forum.universal-robots.com/t/how-to-specify-movel-or-movej-with-rtde/22191
**Category:** Technical Questions
**Created:** [June 23, 2022, 3:16pm UTC](https://forum.universal-robots.com/t/how-to-specify-movel-or-movej-with-rtde/22191 "2022-06-23T15:16:09Z")
**Posts on this page:** 2
**Page:** 1

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### Author: ![anon22203897](https://avatars.discourse-cdn.com/v4/letter/a/2acd7d/32.png) [@anon22203897](https://forum.universal-robots.com/u/anon22203897)
#### Post date: [June 23, 2022, 3:16pm UTC](https://forum.universal-robots.com/t/how-to-specify-movel-or-movej-with-rtde/22191/1 "2022-06-23T15:16:10Z")

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Hi, I downloaded the 2.6.0 rtde file from the UR website, and have been able to run the example\_control\_loop.py 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.

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### Author: ![giorgigedaminski](https://avatars.discourse-cdn.com/v4/letter/g/898d66/32.png) [@giorgigedaminski](https://forum.universal-robots.com/u/giorgigedaminski)
#### Post date: [June 24, 2022, 6:37am UTC](https://forum.universal-robots.com/t/how-to-specify-movel-or-movej-with-rtde/22191/2 "2022-06-24T06:37:19Z")

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Hello,

This tutorial might help you:  
[Universal Robot RTDE tutorial #6 (Full program implementation Part 3/4) - YouTube](https://www.youtube.com/watch?v=b_xncCqTbVQ&t=38s)

Good luck,  
Giorgi