Remote Control Via TCP/IP - 16496


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

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, positions, temperatures, etc. through a few server sockets in the controller. 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 client Secondary client Real-time client 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 Robot State and additional messages Robot State messages Robot State messages Robot State messages
CB-Series
  Primary client Secondary client Real-time client 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 Robot State and additional messages Robot State messages Robot State messages Robot State messages

 

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 22229

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