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.

There are 4 options.

  Primary client
Secondary client
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
Port no. 30001 30002 30003 30004
Hz 10 10 125 125

 A full description (excel sheet) can be downloaded at the bottom of this page.

NOTE: Real-time Data Exchange (RTDE) not incl. in the excel sheet. Full info can be found in article 22229




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