Using ur_rtde with UR7e + PolyScope X

Technical Questions
1

Hi all,

I’m currently working with a UR7e robot running PolyScope X, and I’m trying to use the ur_rtde interface for real-time control (e.g., servoJ / RTDEControlInterface).

However, I’m confused about compatibility with PolyScope X.

From what I understand:

  • ur_rtde has not been fully tested with PolyScope X
  • ExternalControl URCap (PolyScope X version) seems to be required

My questions are:

  1. Has anyone successfully used ur_rtde with PolyScope X?
  2. Do I need to run the External Control URCap program on the teach pendant?
  3. Can ur_rtde work standalone, or must I use ROS2 (ur_robot_driver)?
  4. What communication is required for External Control (socket / control loop)?
  5. Is direct servoJ via RTDE still supported in PolyScope X?

My goal is to use a custom Python pipeline (not ROS if possible) to send real-time joint commands.

Any advice or working examples would be greatly appreciated.

Thanks!