RPS or minimum sampling rate per UR interface

Technical Questions Robot Communication
1

Hi everyone,

In my current project, I’m fetching state values from various UR interfaces to determine whether an alarm has occurred. I am using three communication interfaces: Modbus, Dashboard Server, and RTDE. To ensure data consistency, I want to synchronize the sampling rates across these three interfaces so that the values are sampled at the exact same point in time as much as possible.

Currently, I am polling and retrieving the state values from these three interfaces at a 10Hz frequency. Could anyone provide information regarding the minimum sampling rate or the maximum RPS (requests per second) for each individual interface?

Thanks in advance!

Translated by Gemini (Korean → English)

2

Lowest possible request rate for RTDE is 1Hz.
Dashaboard server has no minimum and is not very well suited for frequent polling. 1Hz would be practical maximum for dashboard server.
Modbus server can also run with 1Hz.