# Using ur\_rtde with UR7e + PolyScope X

**URL:** <https://forum.universal-robots.com/t/using-ur-rtde-with-ur7e-polyscope-x/42676>\
**Category:** Technical Questions\
**Created:** [May 4, 2026, 12:38am UTC](https://forum.universal-robots.com/t/using-ur-rtde-with-ur7e-polyscope-x/42676 "2026-05-04T00:38:31Z")\
**Posts on this page:** 5\
**Page:** 1

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**Author:** ![zhengyutao](https://avatars.discourse-cdn.com/v4/letter/z/a87d85/32.png) [@zhengyutao](https://forum.universal-robots.com/u/zhengyutao)\
**Post date:** [May 4, 2026, 12:38am UTC](https://forum.universal-robots.com/t/using-ur-rtde-with-ur7e-polyscope-x/42676/1 "2026-05-04T00:38:31Z")

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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!

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**Author:** ![yuvalarbiv](https://avatars.discourse-cdn.com/v4/letter/y/ecae2f/32.png) [@yuvalarbiv](https://forum.universal-robots.com/u/yuvalarbiv)\
**Post date:** [July 29, 2026, 9:45am UTC](https://forum.universal-robots.com/t/using-ur-rtde-with-ur7e-polyscope-x/42676/2 "2026-07-29T09:45:08Z")

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

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**Author:** ![nabeel.olusekun](https://avatars.discourse-cdn.com/v4/letter/n/b5ac83/32.png) [@nabeel.olusekun](https://forum.universal-robots.com/u/nabeel.olusekun)\
**Post date:** [July 30, 2026, 9:07am UTC](https://forum.universal-robots.com/t/using-ur-rtde-with-ur7e-polyscope-x/42676/3 "2026-07-30T09:07:26Z")

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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.

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**Author:** ![shreyas.kumar](https://avatars.discourse-cdn.com/v4/letter/s/c89c15/32.png) [@shreyas.kumar](https://forum.universal-robots.com/u/shreyas.kumar)\
**Post date:** [July 31, 2026, 11:18am UTC](https://forum.universal-robots.com/t/using-ur-rtde-with-ur7e-polyscope-x/42676/4 "2026-07-31T11:18:06Z")

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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!

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**Author:** ![properInproperizer](https://avatars.discourse-cdn.com/v4/letter/p/7ab992/32.png) [@properInproperizer](https://forum.universal-robots.com/u/properInproperizer)\
**Post date:** [July 31, 2026, 12:58pm UTC](https://forum.universal-robots.com/t/using-ur-rtde-with-ur7e-polyscope-x/42676/5 "2026-07-31T12:58:11Z")

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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:

```cpp
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).