Universal Robots Forum

Rtde Communication with robot

Hi,
I’m trying to use RTDE communication with robot but i don’t understand how to exchange data with it.
I have made RTDE_REQUEST_PROTOCOL_VERSION and RTDE_GET_URCONTROL_VERSION
Now how should i receive information from controller about robot temperature ecc?

I especially need to understand format of package to send robot

Hello,

Have you taken a look at the RTDE reference material on the main website?

https://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/real-time-data-exchange-rtde-guide-22229/

Yes I have seen but it’s not clare how to receive package from controller and encapsulate data

At the bottom of that page you should be able to find some examples that show how to find temp data:

You can also view the client interfaces page to see if using the secondary interface would work for your implementation:

https://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/overview-of-client-interfaces-21744/

In UR manuals is recommended to use RTDE because other methods are deprecated.
My question is: Have I to write a specific program in robot teach pendant to comunicate or not?
I would read robot state only using a C# program.
Is it possible with RTDE or I need also to write a program on my robot?