Maybe it was mentioned in here before, but I didn’t find it yet.
So I’m here to ask you if you can specify the maximum number of parameters and the frequency of their polling on the RTDE bus assuming full bus load during cobot operation so that the bus does not disconnect the connection to an external system and is able to return the values of the desired parameters.
Thanks for any info.
Specified frequency rate is 500 Hz for e-Series and 125 Hz on CB3. The controller is always providing data representing the robot’s state. For more information please refer to this articles:
- Overview of client interfaces: https://www.universal-robots.com/articles/ur-articles/overview-of-client-interfaces/
- Remote Control Via TCP/IP: https://www.universal-robots.com/articles/ur-articles/remote-control-via-tcpip/
- Real-Time Data Exchange (RTDE): https://www.universal-robots.com/articles/ur-articles/real-time-data-exchange-rtde-guide/
I use the RTDE socket by setting frequency of 50Hz because the error has been caused when the size of buffer is large(near a maximum limit of 2048) and frequency is 125Hz. (CB Series)