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MEC_RMEC_R Posts: 8 Apprentice
Hello, I do not have much experience with RTDE and I would like to ask a question about it. I currently work with two UR10e and I wanted to know if it is possible to communicate with the 2 robots via RTDE from the same laptop?
Thank you

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  • bcastetsbcastets Vacuum Beta tester Posts: 639 Expert
    Did you have a look to Universal Robot RTDE guide ?
    https://www.universal-robots.com/articles/ur/interface-communication/real-time-data-exchange-rtde-guide/
    Maybe you could start experimenting on one robot.
  • MEC_RMEC_R Posts: 8 Apprentice
    I did, but actually it didn't answer my question. I am doing this actually and controlling 2 robots from one laptop. Sometimes it happens, that i send data and the robot doesn't get it Especially when i write to the same register in rtde but send to both robots. For example:
    Setp1.input_bit_register_1 =1
    Robot1.send(setp1)
    Setp2.input_bit_register_1= 2
    Robot2.send(setp2)
    Setp1 is sent to the fi4st robot qnd setp2 is for the second robot.


  • matthewd92matthewd92 Founding Pro, Tactile Sensor Beta Testers Posts: 1,264 Handy
    Theoretically, it should not be an issue since you are connecting to the ports of the robots at two different ip addresses to create the two RTDE interfaces.  I have had some issues with race conditions in the past when sending data, you may want to put a very short sleep between the two send commands just as a test. I would assume your Robot object takes an address and port to make the connections?  Are you receiving data from both robots into their correct objects in the code?
  • MEC_RMEC_R Posts: 8 Apprentice
    Yes, I am receiving data from both robots. When i receive from one robot and send to the other it works fine. The only problem is when i send to both of them at the same time, Sometimes only one of them receive the data.
    I will try to put a sleep as you said. Do you think it is a problem because I use the same register number to send data to both of them and it is better to send data through different registers?
  • matthewd92matthewd92 Founding Pro, Tactile Sensor Beta Testers Posts: 1,264 Handy
    The socket you are sending the data over knows nothing about the data you are sending, pretty sure but can't be positive, that the issue is a race condition with the server and you are only getting one of the commands actually sent.
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