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Remote Control Via TCP/IP

Using Primary, Secondary and Realtime client for controlling/monitoring the robot remotely.

Last modified on Sep 30, 2024

Created: August 21st, 2015.

These options are for advanced users, and will require programming work/skills. These options are NOT directly supported by UR.

Hooking into the Controller data streams

The controller is always providing data representing the robot's state, such as positions, temperatures, etc. through a few server sockets in the controller. The data transmitted from each server socket could be different in detail each other. A custom program can be written to read these streams. A full description (excel sheet) can be downloaded at the bottom of this page.

The overview of four options is as below.

e-Series
  Primary Secondary Real-time Real-time Data Exchange (RTDE)
Port no. 30001 30011 30002 30012 30003 30013 30004
Frequency [Hz] 10 10 10 10 500 500 500
Receive URScript commands - URScript commands - URScript commands - Various data
Transmit See attachment from the bottom See attachment from the bottom See attachment from the bottom See RTDE Guide
CB-Series
  Primary Secondary Real-time Real-time Data Exchange (RTDE)
Port no. 30001 30011 30002 30012 30003 30013 30004
Frequency [Hz] 10 10 10 10 125 125 125
Receive URScript commands - URScript commands - URScript commands - Various data
Transmit See attachment from the bottom See attachment from the bottom See attachment from the bottom See RTDE Guide

 

In e-Series, there are remote and local modes. When the robot is in the local mode, it is not allowed to receive URScript commands and the connection to the ports 30001, 30002, and 30003 will be lost. If you need to monitor the robot state both in remote and local modes, you should use the ports 30004, 30011, 30012, and 30013.

The update frequency is designed as shown in the above table. However, we cannot guarantee the frequency for primary, secondary and real-time client interfaces. For example, all the URScript commands should be complied before execution but it could take longer than 2ms for compile it. In case when the real-time is critical, it is recommended to use RTDE.

 

NOTE: REAL-TIME DATA EXCHANGE (RTDE) NOT INCL. IN THE EXCEL SHEET. FULL INFO CAN BE FOUND IN ARTICLE RTDE guide

Attached files


ClientInterfaces_Primary.pdf
ClientInterfaces_Realtime.pdf
Client_Interfaces_1.1.3.xlsx

Attached files

ClientInterfaces_Primary.pdf
ClientInterfaces_Realtime.pdf
Client_Interfaces_1.1.3.xlsx

Related articles

Dashboard Server e-Series, port 29999
Connecting to Client Interfaces within URSim
Real-Time Data Exchange (RTDE) Guide
Overview of client interfaces
XML-RPC communication
Dashboard Server CB-Series, port 29999
TCP/IP socket communication via URScript
Send a quotation mark via socket communication
Data Source Matrix For Remote Access
Client interfaces (Primary/Secondary and Realtime)
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  • T: +45 89 93 89 89
  • sales@universal-robots.com
  • US Corporate Office
  • 27-43 Wormwood St.
  • 02210 Boston, MA.
  • +1-844-GO-COBOT
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