# RTDE Connection issue **URL:** \ **Category:** Technical Questions\ **Created:** [August 16, 2022, 2:01am UTC](https://forum.universal-robots.com/t/rtde-connection-issue/23278 "2022-08-16T02:01:56Z")\ **Posts on this page:** 5\ **Page:** 1
**Author:** ![anon37526837](https://avatars.discourse-cdn.com/v4/letter/a/b38774/32.png) [@anon37526837](https://forum.universal-robots.com/u/anon37526837)\ **Post date:** [August 16, 2022, 2:01am UTC](https://forum.universal-robots.com/t/rtde-connection-issue/23278/1 "2022-08-16T02:01:57Z")
Hi Team, I am trying to program our UR5e using python. I found RTDE as an option to connect to robot through IP. Use case: Control robot to tap on a POS device and work on application functionality on the same android device. Challenges : 1.Not yet found clear instructions on RTDE GUIDe to program. 2. Referring the below tutorial i downloaded rtde-2.3.6 and running rtde\_control\_loop.urp on the robot and started running example\_control\_loop.py on my computer. But no connection result is null and is not successful. I tried debugging and changed below options but no luck. - Fieldbus /Ethernet /IP enabled. - Tool i/o selected communication interface. - Network / selected static IP. - Remote , tried using enable and disable. Tutorial referred : [Universal Robot RTDE tutorial #1 (Where to start the journey) - YouTube](https://www.youtube.com/watch?v=N2nh3iG7kvo) It would be great if the RTDE guide explains initial setup steps. Or could you provide initail setup steps to interact with Robot through RTDE. ---
**Author:** ![attila](https://avatars.discourse-cdn.com/v4/letter/a/b9bd4f/32.png) [@attila](https://forum.universal-robots.com/u/attila)\ **Post date:** [August 17, 2022, 7:00am UTC](https://forum.universal-robots.com/t/rtde-connection-issue/23278/2 "2022-08-17T07:00:31Z")
Would like to know more about this. ---
**Author:** ![anon37526837](https://avatars.discourse-cdn.com/v4/letter/a/b38774/32.png) [@anon37526837](https://forum.universal-robots.com/u/anon37526837)\ **Post date:** [August 18, 2022, 12:27am UTC](https://forum.universal-robots.com/t/rtde-connection-issue/23278/3 "2022-08-18T00:27:08Z")
Hi Attila, I was using 2.7.x and version of Pthon. I upgraded Pytjom to 3.10.x and the program seem working. I am able to connect to the ip and port and able to get the current TCp. I am executing example\_control\_loop.py and sending new set point details followed by sending a watchdog. From rtde\_contoll\_loop, i modified setp to a fixed point since the Tool\_const resulting in an exception. My current challenge is i am sending new point details through RTDE and from the robot side rtde\_controller \_loop is not picking and moving and jumping betweek like 6 and line 10 in the attached ur script screenshot. It would be helpful if we a good documentation about RTDE. And could you explain rtde\_controller loop functional and watch dog to . ---
**Author:** ![anon37526837](https://avatars.discourse-cdn.com/v4/letter/a/b38774/32.png) [@anon37526837](https://forum.universal-robots.com/u/anon37526837)\ **Post date:** [August 29, 2022, 6:44pm UTC](https://forum.universal-robots.com/t/rtde-connection-issue/23278/4 "2022-08-29T18:44:33Z")
From the below manual /page 92 /note , the upper range is for external RTDE clients. My challenge was , I was using the same example provided in RTDE page with input registers from 0to 6 and data was not sent to the robot. After changing the output registers to 24 to 29 , the example program provided started working. It would be good if the range details are added to the RTDE guide. > **[scriptManual\_SW5.10.pdf](https://s3-eu-west-1.amazonaws.com/ur-support-site/105198/scriptManual_SW5.10.pdf)** > > 763.74 KB Note: The lower range of the float input registers [0:23] is reserved for FieldBus/PLC interface usage. The upper range [24:47] cannot be accessed by FieldBus/PLC interfaces, since it is reserved for external RTDE clients. ---
**Author:** ![attila](https://avatars.discourse-cdn.com/v4/letter/a/b9bd4f/32.png) [@attila](https://forum.universal-robots.com/u/attila)\ **Post date:** [September 22, 2022, 6:13am UTC](https://forum.universal-robots.com/t/rtde-connection-issue/23278/5 "2022-09-22T06:13:07Z")
Hello, thanks for your comments. Attila