Universal Robots Forum

Overview of used RTDE registers

This is a wiki post, so everyone that is distributing their URCap(s) add their usage here. Please note that no RTDE register use us also valuable information:

input_boolean_registers

hex values for marking the bits

URCap 64-71 72-79 80-87 88-95 96-103 104-111 112-119 120-127
Remote TCP
ActiNav
PLB
OnRobot 0x01

input_float_registers

X=used

URCap 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47
Remote TCP X X X X X X X X
ActiNav X X X X X X X X X X X X X
PLB
OnRobot X X X X X X X X X X X X

input_integer_registers

X=used

URCap 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47
Remote TCP X X X
ActiNav X X X
PLB
OnRobot X X X X

output_boolean_registers

hex values for marking the bits

URCap 64-71 72-79 80-87 88-95 96-103 104-111 112-119 120-127
Remote TCP
ActiNav
PLB 0xC0
OnRobot

output_float_registers

X=used

URCap 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47
Remote TCP X
ActiNav
PLB
OnRobot

output_integer_registers

X=used

URCap 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47
Remote TCP
ActiNav X X X X X
PLB
OnRobot