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These options are for advanced users, and will require programming work/skills. These options are not directly supported by UR.
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.
There are 4 options.
||Real Time client
||Real-time Data Exchange (RTDE)|
|Transmit||Robot State and additional messages||Robot State messages||Robot State messages||Robot State messages|
|Receive||URScript commands||URScript commands||URScript commands||Various data|
A full description (excel sheet) can be downloaded at the bottom of this page.