Remote Control Via TCP/IP
Using Primary, Secondary and Realtime client for controlling/monitoring the robot remotely.
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.
