# RTDE Communication issues with multiple URCaps (Compatibility) **URL:** \ **Category:** Robot Communication\ **Created:** [September 17, 2020, 1:20pm UTC](https://forum.universal-robots.com/t/rtde-communication-issues-with-multiple-urcaps-compatibility/8835 "2020-09-17T13:20:17Z")\ **Posts on this page:** 2\ **Page:** 1
**Author:** ![moliveira](https://avatars.discourse-cdn.com/v4/letter/m/ecb155/32.png) [@moliveira](https://forum.universal-robots.com/u/moliveira)\ **Post date:** [September 17, 2020, 1:20pm UTC](https://forum.universal-robots.com/t/rtde-communication-issues-with-multiple-urcaps-compatibility/8835/1 "2020-09-17T13:20:17Z")
Currently, I am trying to write a URCap that uses the RTDE. However, when I tested my URCap with the Robotiq URCap. It seems like we are trying to access the same RTDE port. I tried changing my RTDE port around and I had no luck. It looks like the OnRobot URCap has a similar compatibility issue with the Robotiq URCap: > **[Problem with OnRobot software](https://dof.robotiq.com/discussion/2115/problem-with-onrobot-software)** > > Hi, I've been having some trouble with running a setup as follows: > **[Force Copilot with a OnRobot gripper](https://dof.robotiq.com/discussion/2089/force-copilot-with-a-onrobot-gripper)** > > Greetings,  I am in charge of implementing our first automated cell and I have run into a problem. Can someone explain if there is a way to coexist in the same environment? ---
**Author:** ![moliveira](https://avatars.discourse-cdn.com/v4/letter/m/ecb155/32.png) [@moliveira](https://forum.universal-robots.com/u/moliveira)\ **Post date:** [June 28, 2022, 5:50pm UTC](https://forum.universal-robots.com/t/rtde-communication-issues-with-multiple-urcaps-compatibility/8835/2 "2022-06-28T17:50:07Z")
I am bumping this thread. This still seems to be an issue between the CAPs. Is there any other caps having compatibility issues with Robotiq or OnRobot?