# Rtde safety setup

**URL:** <https://forum.universal-robots.com/t/rtde-safety-setup/26114>\
**Category:** Robot Communication\
**Created:** [January 12, 2023, 2:08am UTC](https://forum.universal-robots.com/t/rtde-safety-setup/26114 "2023-01-12T02:08:16Z")\
**Posts on this page:** 5\
**Page:** 1

<div class="post-metadata">

**Author:** ![francis](https://avatars.discourse-cdn.com/v4/letter/f/ac8455/32.png) [@francis](https://forum.universal-robots.com/u/francis)\
**Post date:** [January 12, 2023, 2:08am UTC](https://forum.universal-robots.com/t/rtde-safety-setup/26114/1 "2023-01-12T02:08:16Z")

</div>

I’m retrieving robot position via rtde which was working fine before I updated to URSim 5.13.  
After updating to URSim 5.13, an out of bounds error occurs when I receive data.  
If I print out the data key types retrieved from rtde, I get the message below:  
SafetySetup has not been confirmed yet therefore no data will be send yet URControl

I just checked and it also occurs in the physical robot.

Anyone know how to confirm safety setup?

---

<div class="post-metadata">

**Author:** ![francis](https://avatars.discourse-cdn.com/v4/letter/f/ac8455/32.png) [@francis](https://forum.universal-robots.com/u/francis)\
**Post date:** [January 13, 2023, 2:22am UTC](https://forum.universal-robots.com/t/rtde-safety-setup/26114/2 "2023-01-13T02:22:20Z")

</div>

Is anyone else’s RTDE functioning properly after updating to 5.13?  
Maybe it’s just my safety setup that has been wiped after upgrading.  
If anyone knows which safety setup to configure, I would appreciate your help.

---

<div class="post-metadata">

**Author:** ![francis](https://avatars.discourse-cdn.com/v4/letter/f/ac8455/32.png) [@francis](https://forum.universal-robots.com/u/francis)\
**Post date:** [January 24, 2023, 7:58am UTC](https://forum.universal-robots.com/t/rtde-safety-setup/26114/3 "2023-01-24T07:58:22Z")

</div>

Can anybody help here?  
RTDE just doesn’t start and it’s occuring in more than one of our robots.  
How is your RTDE working after updating to 5.13?

I’m trying to retrieve the following:  
actual\_TCP\_pose  
actual\_q  
actual\_TCP\_speed  
input\_bit\_registers0\_to\_31  
input\_int\_register\_5  
input\_int\_register\_6  
input\_int\_register\_7  
robot\_mode

In the RTDEClient class, the read from my input stream is  
types[0] = SafetySetup has not been confirmed yet  
types[1] = therefore no data will be send yet URControl

Thanks for your help.

---

<div class="post-metadata">

**Author:** ![francis](https://avatars.discourse-cdn.com/v4/letter/f/ac8455/32.png) [@francis](https://forum.universal-robots.com/u/francis)\
**Post date:** [March 1, 2023, 1:31am UTC](https://forum.universal-robots.com/t/rtde-safety-setup/26114/5 "2023-03-01T01:31:02Z")

</div>

it seems the safety setting was not being read correctly from the installation file during bootup.  
a quick fix i found is to manually open the default installation file again.  
hope it helps.

---

<div class="post-metadata">

**Author:** ![francis](https://avatars.discourse-cdn.com/v4/letter/f/ac8455/32.png) [@francis](https://forum.universal-robots.com/u/francis)\
**Post date:** [July 25, 2023, 5:58am UTC](https://forum.universal-robots.com/t/rtde-safety-setup/26114/6 "2023-07-25T05:58:25Z")

</div>

if anyone with the same problem stumbles on this thread,

assumed cause: the RTDE client is started in the constructor of the installation contribution, which occurs before the safety settings are properly loaded  
quick fix: load the installation file again to properly load the safety settings  
better fix: move the starting of the RTDE client to a different timing, preferably after all other settings are loaded. in my case, in the constructor of every program contribution.