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!

2

hi!
did you find answer to ANY of the questions? they are highly relevant to me as well.

3

Hi @yuvalarbiv ,

I contacted UR Support directly and they were able to help to get it working. There is more setup needed for the client and server connection process.

4

Hi @nabeel.olusekun

Can you please guide me with the steps to do so? I’ve been struggling with it for quite a while.

Thanks!

5

Which version are you using?

I just got a new UR10e today, with 10.13 installed, and tested quickly: connected it to my pc, configuring IP manually on both sides, enabled RTDE under Settings → Security → Services, and let a simple cmd line c# application run, using UnderAutomation’s .net library. They also offer a python version. In the long run you will need a license, but if you just want to try RTDE, or if your idea’s will work, you can use 30 days of free trial.

Here my c# CLI application I used for the test:

using UnderAutomation.UniversalRobots;
using UnderAutomation.UniversalRobots.Rtde;


UR robot = new();
var param = new ConnectParameters("192.168.100.100");

param.Rtde.Enable = true;

param.Rtde.Frequency = 500;

param.Rtde.OutputSetup.Add(RtdeOutputData.ActualTcpPose);

robot.Connect(param);


while (true)
{

    Thread.Sleep(1000);
    var tcpPose = robot.Rtde.OutputDataValues.ActualTcpPose;
    Console.WriteLine($"RTDE OK - TCP X = {tcpPose}");
}

U don’t need to install any urcap (in an earlier post ExternalControl URCap was mentioned, which is in my understanding mainly relevant for ROS stuff).