# UR5e RTDE Connection Setup

**URL:** <https://forum.universal-robots.com/t/ur5e-rtde-connection-setup/30013>\
**Category:** Robot Communication\
**Created:** [August 17, 2023, 8:19am UTC](https://forum.universal-robots.com/t/ur5e-rtde-connection-setup/30013 "2023-08-17T08:19:39Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![michael](https://avatars.discourse-cdn.com/v4/letter/m/4bbf92/32.png) [@michael](https://forum.universal-robots.com/u/michael)\
**Post date:** [August 17, 2023, 8:19am UTC](https://forum.universal-robots.com/t/ur5e-rtde-connection-setup/30013/1 "2023-08-17T08:19:39Z")

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Hello,  
I have problems with connecting my Laptop with RTDE everytime I try to use the example\_controll\_loop.py I get the following Error:

File “example\_control\_loop.py”, line 50, in   
con.connect()  
File “rtde.py”, line 92, in connect  
self.\_\_sock.connect((self.hostname, self.port))  
ConnectionRefusedError: [WinError 10061]

If I didn’t get that Error I got connection Timeout right at the start. The Fieldbus EtherNet/IP on the UR is always Yellow.

I tried many diffrent IPs (localhost, 192.268.x.x, 127.0.0.1. and other) Port is on 30004  
At the UR5e I have the Network settings on Static Address and tried diffrent IPs there too.  
Subnet is on 255.255.255.0  
Gatway 0.0.0.0

Can someone explain me step by step how I setup the RTDE connection? I am new to this Topic and didnt find anything spicific that helped.  
If you need more Infos just say it.

Thanks  
Michael

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<div class="post-metadata">

**Author:** ![michael](https://avatars.discourse-cdn.com/v4/letter/m/4bbf92/32.png) [@michael](https://forum.universal-robots.com/u/michael)\
**Post date:** [February 27, 2024, 9:34am UTC](https://forum.universal-robots.com/t/ur5e-rtde-connection-setup/30013/3 "2024-02-27T09:34:34Z")

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Found a Solution:  
Do not use Fieldbus EtherNet/IP, RTDE uses Ethernet Caple but not Fieldbus (don´t ask me why)  
For IP Adress example:

Loop\_Controlle: ‘192.168.111.222’

Ethernet IP4: Settings of the Ethernet Connection and change Ipv4 to:  
IP-Adress:192.168.111.333  
Subnetzmask: 255.255.255.0  
Default Gateway: 0.0.0.0  
Preferred DNS: 0.0.0.0

Robot Settings Network: Static Adress  
IP-Adress:192.168.111.222  
Subnetzmask: 255.255.255.0  
Default Gateway: 0.0.0.0  
Preferred DNS: 0.0.0.0

IP from Robot and Computer need the thrid part the same and the last part diffrent

I hope is was clear enough and it helps, because it took me quite some time to figure that out as a complete beginner.