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Posts: 5 Apprentice
Header info for RTDE |
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Hi I am trying to use C (not python) for RTDE for a UR10e. Can someone help me figure out how to pack the initial message, which I think should be 'v' for RTDE_GET_URCONTROL_VERSION. It says two bytes for the package size and 1 byte for the package type. I can open and connect thru the port but need help getting started with the basic header info in the first message I need to send.
Can someone break this down for me? Is this
sendmsg[0]=8
sendmsg[1]=0
sendmsg[2]='v'
for the header info or am I way off base?
Can someone break this down for me? Is this
sendmsg[0]=8
sendmsg[1]=0
sendmsg[2]='v'
for the header info or am I way off base?
So far I can send the command out but get no response to RTDE_REQUEST_PROTOCOL_VERSION which is the first command I try to send. All the other ports are okay and are receiving data with their respective handles.