Real-Time Data Exchange (RTDE)

• Introduction
• Key features
• Field names and associated types
o Robot controller inputs
o Robot controller outputs
• Data types
• Protocol
o Header
o RTDE_REQUEST_PROTOCOL_VERSION
▪ Return
o RTDE_GET_URCONTROL_VERSION
▪ Return
o RTDE_TEXT_MESSAGE (protocol v. 1)
o RTDE_TEXT_MESSAGE (protocol v. 2)
o RTDE_DATA_PACKAGE
o RTDE_CONTROL_PACKAGE_SETUP_OUTPUTS (protocol v. 1)
▪ Return
o RTDE_CONTROL_PACKAGE_SETUP_OUTPUTS (protocol v. 2)
▪ Return
o RTDE_CONTROL_PACKAGE_SETUP_INPUTS
▪ Return
o RTDE_CONTROL_PACKAGE_START
▪ Return
o RTDE_CONTROL_PACKAGE_PAUSE
▪ Return

Introduction
The Real-Time Data Exchange (RTDE) interface provides a way to synchronize external
applications with the UR controller over a standard TCP/IP connection, without breaking any
real-time properties of the UR controller. This functionality is among others useful for
interacting with fieldbus drivers (e.g. Ethernet/IP), manipulating robot I/O and plotting robot
status (e.g. robot trajectories). The RTDE interface is by default available when the UR
controller is running.

The synchronization is configurable and can for example involve the following data:

• Output: robot-, joint-, tool- and safety status, analog and digital I/O's and general purpose
output registers
• Input: digital and analog outputs and general purpose input registers
The RTDE functionality is split in two stages: a setup procedure and a synchronization loop.

On connection to the RTDE interface, the client is responsible for setting up the variables to be
synchronized. Any combination of input and output registers that the client needs to write and
read, respectively, can be specified. To achieve this the client sends a setup list of named input
and output fields that should be contained in the actual data synchronization packages. The
definition of a synchronization data package format is referred to as a recipe. There is a
maximum limit of 2048 bytes to represent the list of inputs/outputs field names a client would
like to subscribe to. In return the RTDE interface replies with a list of the variable types or
specifies that a specific variable has not been found. Each input recipe that has been successfully
configured will get a unique recipe id. The list of supported field names and their associated data
types can be found below. When the setup is complete the data synchronization can be started
and paused.

When the synchronization loop is started, the RTDE interface sends the client the requested data
in the same order it was requested by the client. Furthermore the client is expected to send
updated inputs to the RTDE interface on a change of value. The data synchronization uses
serialized binary data.

All packages share the same general structure with a header and a payload if applicable. The
packages used for the setup procedure generate a return message. The synchronization loop
packages do not. Both client and server may at any time send a text message, whereby the
warning level specifies the severity of the problem. The RTDE is available on port number
30004.

To get started we recommend to use or modify the provided client sample written in Python.

Key features
• Real-time synchronization: The RTDE generally generates output messages on 125 Hz.
However, the real-time loop in the controller has a higher priority than the RTDE
interface. Therefore, if the controller lacks computational resources it will skip a number
of output packages. The skipped packages will not be sent later, the controller will always
send the most recent data. Input packages will always be processed in the control cycle
they are received, so the load for the controller will vary depending on the number of
received packages.
• Input messages: The updating of variables in the controller can be divided into multiple
messages. One can have one message to update everything or a message per variable or
any division in between. There is no need for a constant update rate; inputs keep their last
received value. Note: Only one RTDE client is allowed to control a specific variable at
any time.
• Runtime environment: An RTDE client may run on the UR Control Box PC or on any
external PC. The advantage of running the RTDE client on the Control Box is no network
latency. However, the RTDE client and UR controller will compete for computational
resources. Please make sure that the RTDE client runs with standard operating system
 priority. Computationally intensive processes, e.g. image processing, should be run on an
external PC.
• Protocol changes: The RTDE protocol might be updated at any time by UR. To guarantee
maximum compatibility for your RTDE client, RTDE clients can request the RTDE
interface to speak a specific protocol version. Protocol additions / changes are explicitly
denoted, otherwise version 1 is assumed.

Field names and associated types

Robot controller inputs

Introduced
Name Type Comment
in version
0 = don't change speed slider
with this input
speed_slider_mask UINT32
1 = use speed_slider_fraction
to set speed slider value
speed_slider_fraction DOUBLE new speed slider value
Standard digital output bit
standard_digital_output_mask UINT8
mask
Configurable digital output bit
configurable_digital_output_mask UINT8
mask
standard_digital_output UINT8 Standard digital outputs
configurable_digital_output UINT8 Configurable digital outputs
Standard analog output mask

standard_analog_output_mask UINT8 Bits 0-1:

standard_analog_output_0 |
standard_analog_output_1
Output domain
{0=current[mA],
1=voltage[V]}
standard_analog_output_type UINT8
Bits 0-1:
standard_analog_output_0 |
standard_analog_output_1
Standard analog output 0
standard_analog_output_0 DOUBLE
(ratio) [0..1]
 Standard analog output 1
standard_analog_output_1 DOUBLE
(ratio) [0..1]
General purpose bits

input_bit_registers0_to_31 UINT32 This range of the boolean

input registers is reserved for
FieldBus/PLC interface usage.
General purpose bits

input_bit_registers32_to_63 UINT32 This range of the boolean

input registers is reserved for
FieldBus/PLC interface usage.
64 general purpose bits

X: [64..127] - The upper range

input_bit_register_X BOOL 3.9.0 / 5.3.0
of the boolean input registers
can be used by external RTDE
clients (i.e URCAPS).
48 general purpose integer
registers
X: [0..23] - The lower range of
the integer input registers is
[0..23] 3.4.0
reserved for FieldBus/PLC
input_int_register_X INT32 interface usage.
[24..47]
3.9.0 / 5.3.0
X: [24..47] - The upper range
of the integer input registers
can be used by external RTDE
clients (i.e URCAPS).
48 general purpose double
registers

X: [0..23] - The lower range of

the double input registers is [0..23] 3.4.0
reserved for FieldBus/PLC
input_double_register_X DOUBLE
interface usage. [24..47]
3.9.0 / 5.3.0
X: [24..47] - The upper range
of the double input registers
can be used by external RTDE
clients (i.e URCAPS).
 Input external wrench when
external_force_torque VECTOR6D using ft_rtde_input_enable 3.3
builtin.

Robot controller outputs

Introduced
Name Type Comment
in version
Time elapsed since the
timestamp DOUBLE
controller was started [s]
target_q VECTOR6D Target joint positions
target_qd VECTOR6D Target joint velocities
target_qdd VECTOR6D Target joint accelerations
target_current VECTOR6D Target joint currents
Target joint moments
target_moment VECTOR6D
(torques)
actual_q VECTOR6D Actual joint positions
actual_qd VECTOR6D Actual joint velocities
actual_current VECTOR6D Actual joint currents
joint_control_output VECTOR6D Joint control currents
Actual Cartesian coordinates
of the tool: (x,y,z,rx,ry,rz),
actual_TCP_pose VECTOR6D where rx, ry and rz is a
rotation vector representation
of the tool orientation
Actual speed of the tool given
actual_TCP_speed VECTOR6D
in Cartesian coordinates
actual_TCP_force VECTOR6D Generalized forces in the TCP
Target Cartesian coordinates
of the tool: (x,y,z,rx,ry,rz),
target_TCP_pose VECTOR6D where rx, ry and rz is a
rotation vector representation
of the tool orientation
Target speed of the tool given
target_TCP_speed VECTOR6D
in Cartesian coordinates
 Current state of the digital
actual_digital_input_bits UINT64 inputs. 0-7: Standard, 8-15:
Configurable, 16-17: Tool
Temperature of each joint in
joint_temperatures VECTOR6D
degrees Celsius
Controller real-time thread
actual_execution_time DOUBLE
execution time
robot_mode INT32 Robot mode
joint_mode VECTOR6INT32 Joint control modes
safety_mode INT32 Safety mode
3.10.0 /
safety_status INT32 Safety status
5.4.0
Tool x, y and z accelerometer
actual_tool_accelerometer VECTOR3D
values
Speed scaling of the trajectory
speed_scaling DOUBLE
limiter
target_speed_fraction DOUBLE Target speed fraction
Norm of Cartesian linear
actual_momentum DOUBLE
momentum
Safety Control Board: Main
actual_main_voltage DOUBLE
voltage
Safety Control Board: Robot
actual_robot_voltage DOUBLE
voltage (48V)
Safety Control Board: Robot
actual_robot_current DOUBLE
current
actual_joint_voltage VECTOR6D Actual joint voltages
Current state of the digital
actual_digital_output_bits UINT64 outputs. 0-7: Standard, 8-15:
Configurable, 16-17: Tool
runtime_state UINT32 Program state
Position of robot elbow in
elbow_position VECTOR3D 3.5.0 / 5.0.0
Cartesian Base Coordinates
Velocity of robot elbow in
elbow_velocity VECTOR3D 3.5.0 / 5.0.0
Cartesian Base Coordinates
 Bits 0-3: Is power on | Is
program running | Is teach
robot_status_bits UINT32
button pressed | Is power
button pressed
Bits 0-10: Is normal mode | Is
reduced mode | Is protective
stopped | Is recovery mode | Is
safeguard stopped | Is system
safety_status_bits UINT32 emergency stopped | Is robot
emergency stopped | Is
emergency stopped | Is
violation | Is fault | Is stopped
due to safety
Bits 0-3: analog input 0 |
analog input 1 | analog output
analog_io_types UINT32 0 | analog output 1,
{0=current[mA],
1=voltage[V]}
Standard analog input 0 [mA
standard_analog_input0 DOUBLE
or V]
Standard analog input 1 [mA
standard_analog_input1 DOUBLE
or V]
Standard analog output 0 [mA
standard_analog_output0 DOUBLE
or V]
Standard analog output 1 [mA
standard_analog_output1 DOUBLE
or V]
io_current DOUBLE I/O current [mA]
euromap67_input_bits UINT32 Euromap67 input bits
euromap67_output_bits UINT32 Euromap67 output bits
euromap67_24V_voltage DOUBLE Euromap 24V voltage [V]
euromap67_24V_current DOUBLE Euromap 24V current [mA]
tool_mode UINT32 Tool mode
Output domain
{0=current[mA],
1=voltage[V]}
tool_analog_input_types UINT32
Bits 0-1: tool_analog_input_0
| tool_analog_input_1
tool_analog_input0 DOUBLE Tool analog input 0 [mA or V]
tool_analog_input1 DOUBLE Tool analog input 1 [mA or V]
tool_output_voltage INT32 Tool output voltage [V]
tool_output_current DOUBLE Tool current [mA]
Tool temperature in degrees
tool_temperature DOUBLE
Celsius
tcp_force_scalar DOUBLE TCP force scalar [N]
output_bit_registers0_to_31 UINT32 General purpose bits
output_bit_registers32_to_63 UINT32 General purpose bits
64 general purpose bits

output_bit_register_X X: [64..127] - The upper range

BOOL 3.9.0 / 5.3.0
(X=[64 .. 127]) of the boolean output registers
can be used by external RTDE
clients (i.e URCAPS).
48 general purpose integer
registers

X: [0..23] - The lower range

of the integer output registers [0..23] 3.4.0
output_int_register_X (X=[0 is reserved for FieldBus/PLC
INT32
.. 47]) interface usage. [24..47]
3.9.0 / 5.3.0
X: [24..47] - The upper range
of the integer output registers
can be used by external RTDE
clients (i.e URCAPS).
48 general purpose double
registers

X: [0..23] - The lower range

of the double output registers [0..23] 3.4.0
output_double_register_X is reserved for FieldBus/PLC
DOUBLE
(X=[0 .. 47]) interface usage. [24..47]
3.9.0 / 5.3.0
X: [24..47] - The upper range
of the double output registers
can be used by external RTDE
clients (i.e URCAPS).
 General purpose bits (input
read back)
input_bit_registers0_to_31 UINT32 3.4.0
This range of the boolean
output registers is reserved for
FieldBus/PLC interface usage.
General purpose bits (input
read back)
input_bit_registers32_to_63 UINT32 3.4.0
This range of the boolean
output registers is reserved for
FieldBus/PLC interface usage.
64 general purpose bits

input_bit_register_X (X=[64 X: [64..127] - The upper range

BOOL 3.9.0 / 5.3.0
.. 127]) of the boolean output registers
can be used by external RTDE
clients (i.e URCAPS).
48 general purpose integer
registers

X: [0..23] - The lower range

of the integer input registers is [0..23] 3.4.0
input_int_register_X (X=[0 .. reserved for FieldBus/PLC
INT32
48]) interface usage. [24..47]
3.9.0 / 5.3.0
X: [24..47] - The upper range
of the integer input registers
can be used by external RTDE
clients (i.e URCAPS).
48 general purpose double
registers

X: [0..23] - The lower range

of the double input registers is [0..23] 3.4.0
input_double_register_X reserved for FieldBus/PLC
DOUBLE
(X=[0 .. 48]) interface usage. [24..47]
3.9.0 / 5.3.0
X: [24..47] - The upper range
of the double input registers
can be used by external RTDE
clients (i.e URCAPS).
tool_output_mode UINT8 The current output mode
 The current mode of digital
tool_digital_output0_mode UINT8
output 0
The current mode of digital
tool_digital_output1_mode UINT8
output 1
payload DOUBLE Payload mass Kg
Payload Center of Gravity
payload_cog VECTOR3D
(CoGx, CoGy, CoGz) m
Script line number that is
actually in control of the robot
given the robot is locked by
one of the threads in the
script.
3.14.0 /
script_control_line UINT32
If no thread is locking the 5.9.0
robot this field is set to '0'.
Script line number should not
be confused with program tree
line number displayed on
polyscope.
Raw force and torque
measurement, not
ft_raw_wrench VECTOR6D compensated for forces 5.9.0
and torques caused by
the payload

Data types
Name Type Size in bits
BOOL 0 = False, everything else = True 8
UINT8 unsigned integer 8
UINT32 unsigned integer 32
UINT64 unsigned integer 64
INT32 signed integer, two's complement 32
DOUBLE IEEE 754 floating point 64
VECTOR3D 3xDOUBLE 3x64
VECTOR6D 6xDOUBLE 6x64
VECTOR6INT32 6xINT32 6x32
VECTOR6UINT32 6xUINT32 6x32
STRING ASCII char array lengthx8

Network byte order: Data are always sent in network byte order, so big-endian. If you read raw
data directly from the socket you will see it in big-endian, and you might need to convert to little.
UR's rtde-client library will do the conversion to little.

Protocol
EE = External Executable

CON = Robot Controller

Output: CON -> EE

Input: CON <- EE

Header

Field name Data Type

package size uint16_t
package type uint8_t

Summary: All packages use the header.

Supported package types are:

Package Type Value (DEC) ASCII equivalent

RTDE_REQUEST_PROTOCOL_VERSION 86 V
RTDE_GET_URCONTROL_VERSION 118 v
RTDE_TEXT_MESSAGE 77 M
RTDE_DATA_PACKAGE 85 U
RTDE_CONTROL_PACKAGE_SETUP_OUTPUTS 79 O
RTDE_CONTROL_PACKAGE_SETUP_INPUTS 73 I
RTDE_CONTROL_PACKAGE_START 83 S
RTDE_CONTROL_PACKAGE_PAUSE 80 P

Direction: Bilateral

Return: Not available

RTDE_REQUEST_PROTOCOL_VERSION

Field name Data Type

Header See above
protocol version uint16_t

Summary: Request the controller to work with "protocol version"

Direction: EE -> CON

Return

Field name Data Type

Header See above
accepted uint8_t

Summary: The controller accepts or not, i.e. either 1 (success) or 0 (failed). On success, the EE
should speak the specified protocol version and the CON will answer in that version.

RTDE_GET_URCONTROL_VERSION

Field name Data Type

Header See above

Summary: Retrieves the CON major, minor, bugfix and build number.

Direction: EE -> CON

Return
Field name Data Type
Header See above
major uint32_t
minor uint32_t
bugfix uint32_t
build uint32_t

Summary: The major, minor, bugfix and build number.

RTDE_TEXT_MESSAGE (protocol v. 1)

Direction: CON -> EE

Field name Data Type

Header See above
message type uint8_t
message string

Direction: EE -> CON

Field name Data Type

Header See above
message length uint8_t
message string
source length uint8_t
source string
warning level uint8_t

Summary: Send an exception, error, warning or info message.

Warning level: EXCEPTION_MESSAGE, ERROR_MESSAGE, WARNING_MESSAGE,

INFO_MESSAGE

EE->CON: Exceptions indicate EE program failure without recovery possibilities. Error,

warning and info will end up in the PolyScope log.
CON -> EE: Indicates mainly different kinds of protocol failures.

Direction: See above

Return: Not available.

RTDE_TEXT_MESSAGE (protocol v. 2)

Field name Data Type

Header See above
message length uint8_t
message string
source length uint8_t
source string
warning level uint8_t

Summary: Send an exception, error, warning or info message.

Warning level: EXCEPTION_MESSAGE, ERROR_MESSAGE, WARNING_MESSAGE,

INFO_MESSAGE

EE->CON: Exceptions indicate EE program failure without recovery possibilities. Error,

warning and info will end up in the PolyScope log.

CON -> EE: Indicates mainly different kinds of protocol failures.

Direction: Bilateral

Return: Not available.

RTDE_DATA_PACKAGE

Field name Data Type

Header See above
recipe id uint8_t
<variable> <data type>

Summary: An update to the CON/EE inputs respectively.

The <variable>s are packaged/serialized binary and match the type specified by the
SETUP_OUTPUTS or SETUP_INPUTS requests return.

Direction: Bilateral

Return: Not available

RTDE_CONTROL_PACKAGE_SETUP_OUTPUTS (protocol v. 1)

Field name Data Type

Header See above
variable names string

Summary: Setup the outputs recipe. At the moment the CON only supports one output recipe.
The package should contain all desired output variables. The variables names is a list of comma
separated variable name strings.

Direction: EE -> CON

Return

Field name Data Type

Header See above
variable types string

Summary: Returns the variable types in the same order as they were supplied in the request.

Variable types: VECTOR6D, VECTOR3D, VECTOR6INT32, VECTOR6UINT32, DOUBLE,

UINT64, UINT32, INT32, BOOL, UINT8

If a variable is not available, then the variable type will be "NOT_FOUND".

In case of one or more "NOT_FOUND" return values, the recipe is considered invalid and the
RTDE will not output this data.

RTDE_CONTROL_PACKAGE_SETUP_OUTPUTS (protocol v. 2)

Field name Data Type

Header See above
output frequency double
variable names string

Summary: Setup the outputs recipe. At the moment the CON only supports one output recipe and
the output frequency is configurable. The frequency must be between 1 and 125 Hz and the
output rate will be according to floor(125 / frequency). The package should contain all desired
output variables. The variable names is a list of comma separated variable name strings.

Direction: EE -> CON

Return

Field name Data Type

Header See above
output recipe id uint8_t
variable types string

Summary: Returns the variable types in the same order as they were supplied in the request.

Variable types: VECTOR6D, VECTOR3D, VECTOR6INT32, VECTOR6UINT32, DOUBLE,

UINT64, UINT32, INT32, BOOL, UINT8

If a variable is not available, then the variable type will be "NOT_FOUND".

In case of one or more "NOT_FOUND" return values, the recipe is considered invalid and the
RTDE will not output this data (output recipe id = 0).

RTDE_CONTROL_PACKAGE_SETUP_INPUTS

Field name Data Type

Header See above
variable names string

Summary: Setup a CON input recipe.The CON supports 255 different input recipes (0 is
reserved). The variables names is a list of comma separated variable name strings.

Direction: EE -> CON

Return

Field name Data Type

Header See above
input recipe id uint8_t
variable types string

Summary: Returns the variable types in the same order as they were supplied in the request.

Variable types: VECTOR6D, VECTOR3D, VECTOR6INT32, VECTOR6UINT32, DOUBLE,

UINT64, UINT32, INT32, BOOL, UINT8

If a variable has been claimed by another EE, then the variable type will be "IN_USE".

If a variable is not available, then the variable type will be "NOT_FOUND".

In case of one or more "IN_USE" or "NOT_FOUND" return values, the recipe is considered
invalid (input recipe id = 0).

RTDE_CONTROL_PACKAGE_START

Field name Data Type

Header See above

Summary: Request the controller to start sending output updates. This will fail if e.g. an output
package has not been configured yet.

Direction: EE -> CON

Return

Field name Data Type

Header See above
accepted uint8_t

Summary: The CON accepts or not. Either 1 (success) or 0 (failed).

RTDE_CONTROL_PACKAGE_PAUSE

Field name Data Type

Header See above

Summary: Request the CON to pause sending output updates.

Direction: EE -> CON

Return

Field name Data Type

Header See above
accepted uint8_t

Summary: The CON will always accept a pause command and return a 1 (success).