# RTDE Code in Java

**URL:** <https://forum.universal-robots.com/t/rtde-code-in-java/16914>\
**Category:** URCap Development\
**Created:** [October 8, 2021, 5:04am UTC](https://forum.universal-robots.com/t/rtde-code-in-java/16914 "2021-10-08T05:04:39Z")\
**Posts on this page:** 4\
**Page:** 1

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**Author:** ![anon75712119](https://avatars.discourse-cdn.com/v4/letter/a/8e8cbc/32.png) [@anon75712119](https://forum.universal-robots.com/u/anon75712119)\
**Post date:** [October 8, 2021, 5:04am UTC](https://forum.universal-robots.com/t/rtde-code-in-java/16914/1 "2021-10-08T05:04:39Z")

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As RTDE is recommended than other ports. How can I use RTDE port in my URCaps not in daemon .Is there any resource there to develop RTDE in Java for URCaps.

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**Author:** ![fujikit](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/fujikit/32/6042_2.png) [@fujikit](https://forum.universal-robots.com/u/fujikit)\
**Post date:** [October 8, 2021, 11:35am UTC](https://forum.universal-robots.com/t/rtde-code-in-java/16914/2 "2021-10-08T11:35:31Z")

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Please two samples.  
The latter is my developed sample.

> [@URCap Sample: Open Source "SkyNet"](https://forum.universal-robots.com/t/urcap-sample-open-source-skynet/4795):
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> SkyNet Description of functionality: Set of URCaps, libraries and examples for different purposes. I am at very beginning of development, so for now I have an example of Dashboard server client Hope soon I will have some more good stuff wink What topics are covered: URCap development Requirements: URCaps SDK v. 1.7.0

> [@URCap Sample : Ethernet/IP I/O Monitor URCap (included the feature of RTDE and XML-RPC Server by JAVA)](https://forum.universal-robots.com/t/urcap-sample-ethernet-ip-i-o-monitor-urcap-included-the-feature-of-rtde-and-xml-rpc-server-by-java/8724):
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> To all developer. I have developped the urcap for monitoring I/O of Ehternet/IP. I use the features of RTDE, XML-RPC and so on to developping this. I want to make it better in operation. So would you try to use this and send me your message or reply if you have the suggetions and improvements? Regards. GitHub

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**Author:** ![anon75712119](https://avatars.discourse-cdn.com/v4/letter/a/8e8cbc/32.png) [@anon75712119](https://forum.universal-robots.com/u/anon75712119)\
**Post date:** [October 8, 2021, 12:54pm UTC](https://forum.universal-robots.com/t/rtde-code-in-java/16914/3 "2021-10-08T12:54:21Z")

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Thanks @fuikit It’s good for RTDE Input and Ouput. Is there any thing like that to moveJ in RTDE?

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**Author:** ![anon75712119](https://avatars.discourse-cdn.com/v4/letter/a/8e8cbc/32.png) [@anon75712119](https://forum.universal-robots.com/u/anon75712119)\
**Post date:** [October 13, 2021, 6:21am UTC](https://forum.universal-robots.com/t/rtde-code-in-java/16914/4 "2021-10-13T06:21:50Z")

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Thanks @fujikit In SkyNet [skynet/ExampleOutputV1.java at master · o5h/skynet · GitHub](https://github.com/o5h/skynet/blob/master/examples/example-ur-rtde/src/main/java/com/github/o5h/skynet/examples/ur/rtde/ExampleOutputV1.java)

where can I get Output in that above code. Because I tried to print from startOuput and SetupOutputV1 but I didn’t got output.