# Robot is not moving while using RTDE communication

**URL:** <https://forum.universal-robots.com/t/robot-is-not-moving-while-using-rtde-communication/41572>\
**Category:** SDU ur\_rtde\
**Created:** [October 23, 2025, 9:24am UTC](https://forum.universal-robots.com/t/robot-is-not-moving-while-using-rtde-communication/41572 "2025-10-23T09:24:13Z")\
**Posts on this page:** 5\
**Page:** 1

<div class="post-metadata">

**Author:** ![ozima](https://avatars.discourse-cdn.com/v4/letter/o/2bfe46/32.png) [@ozima](https://forum.universal-robots.com/u/ozima)\
**Post date:** [October 23, 2025, 9:24am UTC](https://forum.universal-robots.com/t/robot-is-not-moving-while-using-rtde-communication/41572/1 "2025-10-23T09:24:13Z")

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## Good day, UR Enthusiasts!

I have a UR7e with PolyScope X (updated from 10.9.0 to 10.11.0). The robot is connected to the network via Ethernet, and the network settings are configured. It’s accessible from another computer (Ubuntu 25 Desktop) on the same network using `ping`.

On the Teach Pendant, under Settings → Service, only RTDE is enabled.

My goal is to control the robot using Python with either [ur\_rtde](https://gitlab.com/sdurobotics/ur_rtde) or [airo-mono](https://github.com/airo-ugent/airo-mono), or a similar library.

### Setup

The robot is in Automatic and Remote Mode. The source code of the program on the PC is:

```py
from rtde_control import RTDEControlInterface as RTDEControl
from rtde_receive import RTDEReceiveInterface as RTDEReceive
from rtde_io import RTDEIOInterface as RTDEIO

robot_ip = "some_funny_ip_address" # in the code IP is legit
print("[INFO] Connecting to robot...")

rtde_c = RTDEControl(robot_ip)
rtde_r = RTDEReceive(robot_ip)
rtde_io = RTDEIO(robot_ip)

if rtde_c.isConnected():
    print("[INFO] Connected to robot")
    pose = rtde_r.getActualTCPPose()
    print(f"[INFO] Current TCP Pose: {pose}")

    joint_q = [
        -2.949089357045247e-05,
        -0.34986870525957403,
        1.0806964211271177,
        0.00010632206713058395,
        2.2182762698278697,
        -2.22458730173004,
    ] # Home position
    print("[INFO] Sending moveL command...")
    rtde_c.moveL(joint_q)
    print("[INFO] Motion command sent.")

    rtde_c.stopScript()
    print("[INFO] Control script stopped.")
else:
    print("[ERROR] Failed to connect to robot.")

```

`ur_rtde` is installed using `uv`.

Output of the program:

```txt
[INFO] Connecting to robot...
[INFO] Connected to robot
[INFO] Current TCP Pose: [-0.08413651129442616, 0.04764822623896414, 0.2832431089844092, 1.2133899565424517, -1.2123203295532607, -1.2061787208779342]
[INFO] Sending moveL command...
[INFO] Motion command sent.
[INFO] Control script stopped.

```

### Problem

The output suggests that everything is fine and the robot moved, but in reality, it stayed in the same place and didn’t move a centimeter.

I would be very grateful for any help.

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<div class="post-metadata">

**Author:** ![anpl](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/anpl/32/4494_2.png) [@anpl](https://forum.universal-robots.com/u/anpl)\
**Post date:** [October 23, 2025, 11:13am UTC](https://forum.universal-robots.com/t/robot-is-not-moving-while-using-rtde-communication/41572/2 "2025-10-23T11:13:17Z")

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Hi Ozima

The ur\_rtde interface has not yet been tested with the PolyScopeX and the Remote Control feature. If you are using PolyScopeX, you must use the [ExternalControl URCapX](https://github.com/UniversalRobots/Universal_Robots_ExternalControl_URCapX). And remember to set the **FLAG\_USE\_EXT\_UR\_CAP** the RTDEControlInterface constructor.

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<div class="post-metadata">

**Author:** ![nabeel.olusekun](https://avatars.discourse-cdn.com/v4/letter/n/b5ac83/32.png) [@nabeel.olusekun](https://forum.universal-robots.com/u/nabeel.olusekun)\
**Post date:** [May 18, 2026, 9:03am UTC](https://forum.universal-robots.com/t/robot-is-not-moving-while-using-rtde-communication/41572/3 "2026-05-18T09:03:38Z")

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Hi @ozima,

Did this work?

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<div class="post-metadata">

**Author:** ![ozima](https://avatars.discourse-cdn.com/v4/letter/o/2bfe46/32.png) [@ozima](https://forum.universal-robots.com/u/ozima)\
**Post date:** [May 18, 2026, 9:21am UTC](https://forum.universal-robots.com/t/robot-is-not-moving-while-using-rtde-communication/41572/4 "2026-05-18T09:21:37Z")

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Hi @nabeel.olusekun ,

Yes! It worked just fine. I also missed that step in the `ur_rtde` documentation.

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<div class="post-metadata">

**Author:** ![naga4494](https://avatars.discourse-cdn.com/v4/letter/n/e8c25b/32.png) [@naga4494](https://forum.universal-robots.com/u/naga4494)\
**Post date:** [June 25, 2026, 7:35am UTC](https://forum.universal-robots.com/t/robot-is-not-moving-while-using-rtde-communication/41572/5 "2026-06-25T07:35:31Z")

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Hi, I am stuck with the same issue. I have set the external flags, and the receive interface is working fine, but not the control. May I know how you solved the issue?