Universal Robots Forum

Is it possible to send robot pose data through modbus!?

I wanted to send the actual tcp position (pose) through Modbus, is it possible…

and we are trying to get the tcp pose also from RTDE but we are getting only base values…

is there any way??

Check the excel or pdf file in this article Modbus Server there are six registers that output TCP x, y, z, rx, ry, rz values for the robot.

As for RTDE, what command are you issuing? Is it,


this should return tcp values relative to base coordinate system. If you are trying to see tcp movement relative to itself you might have to use


this is just a guess, someone else might have to answer this question. See RTDE guide for command types and returns.

Hope that helps, and best of luck!