# RG2 Gripper URScript sent on secondary interface and RTDE servoJ commands sent simulatneously **URL:** \ **Category:** URScript\ **Created:** [September 11, 2026, 2:44pm UTC](https://forum.universal-robots.com/t/rg2-gripper-urscript-sent-on-secondary-interface-and-rtde-servoj-commands-sent-simulatneously/43310 "2026-09-11T14:44:53Z")\ **Posts on this page:** 2\ **Page:** 1
**Author:** ![saya.saichandana](https://avatars.discourse-cdn.com/v4/letter/s/7993a0/32.png) [@saya.saichandana](https://forum.universal-robots.com/u/saya.saichandana)\ **Post date:** [September 11, 2026, 2:44pm UTC](https://forum.universal-robots.com/t/rg2-gripper-urscript-sent-on-secondary-interface-and-rtde-servoj-commands-sent-simulatneously/43310/1 "2026-09-11T14:44:54Z")
I want to know what are the difficulties we face on simultaneously sending the UR Script on secondary interface (port 30002) and servoJ commands through ur\_rtde python library ? I am running these on two different threads . None of them are running . I am using 5.25.1 polyscope version and also the RG2 gripper with the 1.10.1 version UR caps . ---
**Author:** ![lxop](https://avatars.discourse-cdn.com/v4/letter/l/8491ac/32.png) [@lxop](https://forum.universal-robots.com/u/lxop)\ **Post date:** [September 21, 2026, 1:12am UTC](https://forum.universal-robots.com/t/rg2-gripper-urscript-sent-on-secondary-interface-and-rtde-servoj-commands-sent-simulatneously/43310/2 "2026-09-21T01:12:27Z")
You can’t send servoj commands through RTDE, only set register values. You need a program (URP or URScript) running on the robot to read those values out of the registers and call servoj() with them. From the limited information in your question, I suggest you send your script via the secondary interface first, then once it is running, start sending the values in via RTDE. I’m not sure how the gripper fits into your question.