RTDE Reference Program

EN KO

RTDE Reference Program

English-only documentation for the reference dashboard, digital twin, current-window monitor, and Python RTDE API.

Reference program notice. This repository is intended for inspection, integration, learning, and validation. It is not a certified safety product and must not be the only protective measure.

Screenshots

Digital twin view

Current-window monitor

Quick links

Getting started Install, configure one robot IP, and launch the web interface. Web interface guide Panels, screenshots, recommended field sets, and monitoring workflow. Python API guide Read RTDE fields, write GP registers, and use the class-based API. RTDE background Recipes, GP input vs output, frequency trade-offs, and naming rules.

Documentation (EN)

• Getting started
  • Windows setup
  • Single-source configuration
  • Recommended starting points
• RTDE background
  • What RTDE is
  • Why field names are kept literal
  • Output recipe vs input recipe
  • GP inputs vs GP outputs
  • Frequency and load
  • Current-window view
• Web interface guide
  • Overview
  • Screenshots
  • How to run it
  • Key panels
  • Recommended field profiles
• Python API
  • Simple wrapper: UR_RTDE
  • Core class: URRobot
  • Async example
  • Reading values
  • Writing GP inputs
  • Conversion helpers
  • Suggested integration pattern
• Troubleshooting
  • Unsupported RTDE fields
  • Start rejected
  • Actual rate drops over time
  • GP write does not work
  • Digital twin visible but links are misaligned
  • Digital twin not visible
• Publishing with Sphinx and GitHub Pages
  • Local HTML build
  • Repository workflow
  • Required GitHub repository setting
  • Minimal command summary
  • What to commit
• API reference
  • Wrapper module
  • Core RTDE module