RTDE control UR10e


I use RTDE to control 2 robots at the same time, for this I have 2 questions.
1- Whenever I interrupt the program, the registers keep their values, so on the next run the robot tries to execute the values or move to the point of the last run. is there a command to set these registers back to zero?
2- I use a robot to read its position and execute it in another, so on every second run the communication with the slave robot fails and I get the message (0 bytes received from the controller, probable cause: controller has stopped). how can I solve the problem?

Thanks a lot!

a small update: ConnectionResetError: [WinError 10054] An existing connection was forcibly closed by the remote host.
I also get this error sometimes when I try to send data for the first robot after being connected to the second robot