Universal Robots

Universal Robots Real-Time Data Exchange (RTDE)

Real-Time Data Exchange is Universal Robots' synchronous binary TCP protocol on port 30004 that lets external applications stream robot state at the controller's 500 Hz cycle (e-Series) or 125 Hz cycle (CB3) and write inputs back into the controller. RTDE is the canonical integration point for vision-guided motion, force/torque processing, OEE telemetry, and ROS/ROS 2 drivers. Universal Robots publishes a C++ Client Library and a Python Client Library plus a ROS 2 RTDE publisher node.

Universal Robots Real-Time Data Exchange (RTDE) is one of 8 APIs that Universal Robots publishes on the APIs.io network.

Tagged areas include RTDE, Real-Time, Telemetry, TCP, and Binary Protocol. The published artifact set on APIs.io includes API documentation and SDKs.

GitHub

Documentation

📖
Documentation
https://docs.universal-robots.com/
📖
Documentation
https://www.universal-robots.com/articles/ur/interface-communication/real-time-data-exchange-rtde-guide/

SDKs

📦
SDK
https://github.com/UniversalRobots/RTDE_Python_Client_Library
📦
SDK
https://github.com/UniversalRobots/Universal_Robots_Client_Library
📦
SDK
https://github.com/UniversalRobots/RTDE_ROS2_Publisher

API entry from apis.yml

apis.yml Raw ↑ 
aid: universal-robots:rtde
name: Universal Robots Real-Time Data Exchange (RTDE)
description: Real-Time Data Exchange is Universal Robots' synchronous binary TCP protocol on port 30004
  that lets external applications stream robot state at the controller's 500 Hz cycle (e-Series) or 125
  Hz cycle (CB3) and write inputs back into the controller. RTDE is the canonical integration point for
  vision-guided motion, force/torque processing, OEE telemetry, and ROS/ROS 2 drivers. Universal Robots
  publishes a C++ Client Library and a Python Client Library plus a ROS 2 RTDE publisher node.
humanURL: https://docs.universal-robots.com/Universal_Robots_ROS_Documentation/doc/ur_client_library/doc/architecture/rtde.html
tags:
- RTDE
- Real-Time
- Telemetry
- TCP
- Binary Protocol
properties:
- type: Documentation
  url: https://docs.universal-robots.com/
- type: Documentation
  url: https://www.universal-robots.com/articles/ur/interface-communication/real-time-data-exchange-rtde-guide/
- type: SDK
  url: https://github.com/UniversalRobots/RTDE_Python_Client_Library
- type: SDK
  url: https://github.com/UniversalRobots/Universal_Robots_Client_Library
- type: SDK
  url: https://github.com/UniversalRobots/RTDE_ROS2_Publisher