Unexpected get_steptime() behavior when changing RTDE communication frequency

Technical Questions URScript
1

Hello everyone,

I am working on a UR robot (UR5e) and I am setting up RTDE communication with a UR robot.

I have observed an unexpected behavior:

When I set the communication frequency to 500 Hz, get_steptime() returns 2 ms (as expected).

However, when I set the frequency to 125 Hz, get_steptime() still returns 2 ms (where I would expect 8 ms).

Has anyone encountered similar behavior?

Thank you in advance.

2

The get_steptime() is returning the time it takes for the robot and the controller to exchange positional information. That happens at 500Hz. When you’re setting the RTDE, it’s my understanding that you’re setting the communication time between the controller and some external device. The arm and the controller are still always talking at 500Hz