# \#rtde **URL:** https://forum.universal-robots.com/tag/rtde/14.md [Latest](https://forum.universal-robots.com/latest.md) · [Categories](https://forum.universal-robots.com/categories.md) · [Tags](https://forum.universal-robots.com/tags.md) --- ## [RTDE | Sending INPUT](https://forum.universal-robots.com/t/rtde-sending-input/6328)
**Author:** [@anon21401016](https://forum.universal-robots.com/u/anon21401016)\ **Replies:** 4\ **Last updated:** [April 10, 2024, 3:08pm UTC](https://forum.universal-robots.com/t/rtde-sending-input/6328 "2024-04-10T15:08:24Z")
Dear Developers, I am trying to figured out how does the RTDE conection is working. I had no problem to read outputs from server but I am not able to undestand how does the input works. I am not familiar with Python, so… --- ## [About the SDU ur\_rtde category](https://forum.universal-robots.com/t/about-the-sdu-ur-rtde-category/15980)
**Author:** [@Ebbe](https://forum.universal-robots.com/u/Ebbe)\ **Replies:** 0
This category is inteded for questions and feedback for the SDU ur\_rtde lib https://sdurobotics.gitlab.io/ur\_rtde/ --- ## [RTDE - get\_inverse\_kin()](https://forum.universal-robots.com/t/rtde-get-inverse-kin/11611)
**Author:** [@anon59108369](https://forum.universal-robots.com/u/anon59108369)\ **Replies:** 10\ **Last updated:** [February 26, 2021, 9:04am UTC](https://forum.universal-robots.com/t/rtde-get-inverse-kin/11611 "2021-02-26T09:04:14Z")
Hi all, I am using an RTDE interface in python created by RopeRobotics(Python 3 library to communicate with robot), though my question is more about general RTDE communication than the interface presented above. I know… --- ## [Difference in available State information between Modbus Server and RTDE Server](https://forum.universal-robots.com/t/difference-in-available-state-information-between-modbus-server-and-rtde-server/9131)
**Author:** [@gomathisankar](https://forum.universal-robots.com/u/gomathisankar)\ **Replies:** 1\ **Last updated:** [January 25, 2021, 1:48pm UTC](https://forum.universal-robots.com/t/difference-in-available-state-information-between-modbus-server-and-rtde-server/9131 "2021-01-25T13:48:20Z")
UR cobots has below states Power Off, Power On, Security Stopped,Emergency stopped,Teach button pressed, Power button pressed, Safety Signal on, Connected, Disconnected, Booting, Running, Idle,Fault, Shutdown, Back driv… --- ## [URScript control of Onrobot RG2 Robot Gripper (v1)](https://forum.universal-robots.com/t/urscript-control-of-onrobot-rg2-robot-gripper-v1/10502)
**Author:** [@anon69330124](https://forum.universal-robots.com/u/anon69330124)\ **Replies:** 0\ **Last updated:** [December 3, 2020, 7:12pm UTC](https://forum.universal-robots.com/t/urscript-control-of-onrobot-rg2-robot-gripper-v1/10502 "2020-12-03T19:12:39Z")
Hi everyone, does anyone have resources for communicate with the OnRobot RG2 gripper for the UR robot in real-time using RTDE? I had the same question as here but for the v1 @asbjorn.oland, @marius.gheorghe, do you h… --- ## [Overview of used RTDE registers](https://forum.universal-robots.com/t/overview-of-used-rtde-registers/9016)
**Author:** [@Ebbe](https://forum.universal-robots.com/u/Ebbe)\ **Replies:** 0\ **Last updated:** [October 3, 2020, 7:22pm UTC](https://forum.universal-robots.com/t/overview-of-used-rtde-registers/9016 "2020-10-03T19:22:45Z")
This is a wiki post, so everyone that is distributing their URCap(s) add their usage here. Please note that no RTDE register use us also valuable information: input\_boolean\_registers hex values for marking the bits … --- ## [RTDE output data units - actual\_execution\_time](https://forum.universal-robots.com/t/rtde-output-data-units-actual-execution-time/6792)
**Author:** [@baptiste.veron](https://forum.universal-robots.com/u/baptiste.veron)\ **Replies:** 3\ **Last updated:** [March 27, 2020, 12:19pm UTC](https://forum.universal-robots.com/t/rtde-output-data-units-actual-execution-time/6792 "2020-03-27T12:19:02Z")
Hi, RTDE provides the “actual\_execution\_time” output data. I am wondering in which unit it is given. Is it in hundredth of a second ? --- ## [Callback to URcap when program execution stops](https://forum.universal-robots.com/t/callback-to-urcap-when-program-execution-stops/6719)
**Author:** [@jorge](https://forum.universal-robots.com/u/jorge)\ **Replies:** 3\ **Last updated:** [March 20, 2020, 5:07am UTC](https://forum.universal-robots.com/t/callback-to-urcap-when-program-execution-stops/6719 "2020-03-20T05:07:39Z")
Hi, Is there a way to get a callback to an installation node when the program execution stops. I guess it would be possible to read RTDE data but I would prefer to simply implement some sort of async method like the ha… --- ## [Wait for signal to move robot after program resumes](https://forum.universal-robots.com/t/wait-for-signal-to-move-robot-after-program-resumes/6621)
**Author:** [@anon96671301](https://forum.universal-robots.com/u/anon96671301)\ **Replies:** 9\ **Last updated:** [March 18, 2020, 9:42am UTC](https://forum.universal-robots.com/t/wait-for-signal-to-move-robot-after-program-resumes/6621 "2020-03-18T09:42:36Z")
Hi, there I am making software to control external devices with URCaps. What I want to do: The program stops Resume the program Wait for a specific signal\*1 Detect the signal and move the robot \*1: The process to w… --- ## [External RTDE connection(onrobot)](https://forum.universal-robots.com/t/external-rtde-connection-onrobot/6456)
**Author:** [@oren.spector](https://forum.universal-robots.com/u/oren.spector)\ **Replies:** 4\ **Last updated:** [February 25, 2020, 3:20pm UTC](https://forum.universal-robots.com/t/external-rtde-connection-onrobot/6456 "2020-02-25T15:20:52Z")
hello all, I am trying to read the robot data using RTDE connection. I have downloaded the rtde-2.3.6 and I am using the build-in example record.py to read the data. In addition to the robot data, I am trying to read t… --- ## [Payload compensation with RTDE force injection](https://forum.universal-robots.com/t/payload-compensation-with-rtde-force-injection/2053)
**Author:** [@malacasse](https://forum.universal-robots.com/u/malacasse)\ **Replies:** 9\ **Last updated:** [October 24, 2019, 6:34pm UTC](https://forum.universal-robots.com/t/payload-compensation-with-rtde-force-injection/2053 "2019-10-24T18:34:14Z")
With the Robotiq FT300 sensor, we have a calibration process to remove the payload effect from sensor values. With force injection, we must send the non-compensate sensor value to RTDE because the robot controller appli… --- ## [Ethernet/IP Adapter reservers all RTDE registers](https://forum.universal-robots.com/t/ethernet-ip-adapter-reservers-all-rtde-registers/2240)
**Author:** [@malacasse](https://forum.universal-robots.com/u/malacasse)\ **Replies:** 6\ **Last updated:** [September 16, 2019, 6:26am UTC](https://forum.universal-robots.com/t/ethernet-ip-adapter-reservers-all-rtde-registers/2240 "2019-09-16T06:26:25Z")
@jbm @nicolas1 In a URCap we use RTDE to synchronize an external application with robot program. Unfortunately, we found that the Ethernet/IP Adapter reserves every RTDE registers. So is it a workaround if a client of … --- ## [How to get joint position from TCP/IP sockets?](https://forum.universal-robots.com/t/how-to-get-joint-position-from-tcp-ip-sockets/4729)
**Author:** [@anon71517064](https://forum.universal-robots.com/u/anon71517064)\ **Replies:** 1\ **Last updated:** [July 15, 2019, 7:23am UTC](https://forum.universal-robots.com/t/how-to-get-joint-position-from-tcp-ip-sockets/4729 "2019-07-15T07:23:41Z")
Is there a way to get Joint position from A tcpi ip socket for a ur 10 e ? --- ## [RTDE input parameters already in use - Ethernet/IP Adapter](https://forum.universal-robots.com/t/rtde-input-parameters-already-in-use-ethernet-ip-adapter/860)
**Author:** [@anon66078437](https://forum.universal-robots.com/u/anon66078437)\ **Replies:** 9\ **Last updated:** [May 29, 2018, 5:27pm UTC](https://forum.universal-robots.com/t/rtde-input-parameters-already-in-use-ethernet-ip-adapter/860 "2018-05-29T17:27:02Z")
Hello, I recently exchanged my UR5 running RTDE version 3.3 for a UR10 running RTDE version 3.4. Now I was setting up RTDE to exchange position data between my PC and the UR5, sending doubles to 6 input registers on the… --- ## [RTDE: record.py fails with error - Copy error](https://forum.universal-robots.com/t/rtde-record-py-fails-with-error-copy-error/276)
**Author:** [@anon61101646](https://forum.universal-robots.com/u/anon61101646)\ **Replies:** 2\ **Last updated:** [October 5, 2016, 9:48am UTC](https://forum.universal-robots.com/t/rtde-record-py-fails-with-error-copy-error/276 "2016-10-05T09:48:33Z")
My working environment is URSim 3.3.0.145 -VMware. I have tried to connect the RTDE and failed with the following symptoms. ur@ursim:~/UR-RTDE-Client$ python --version Python 2.7.6 ur@ursim:~/UR-RTDE-Client$ python rec…