Client interfaces (Primary/Secondary and Realtime)
Overview of control interfaces
Documents about the Primary client interface and the Realtime communications interface, as well as an excel document with an overview can be found at the bottom of this page.
These documents contain information aboutĀ control modes, safety modes, robot modes, Joint modes, Tool modes etc.
(The RealTime interface has been deprecated since version 3.5. It is recommended to useĀ the RTDE Interface, instead)
More information about RTDE Interface can be found here.