Troubleshooting

Unsupported RTDE fields

Error example:

RTDE output setup contains unsupported fields: actual_current_as_torque:NOT_FOUND

Meaning:

The controller does not support one or more requested output fields.

Recommended fix order:

Remove the unsupported field.
Test again with a known-good slim recipe.
Add fields back one by one.

Known-good slim recipe:

ROBOT_FIELDS = ["timestamp", "actual_q", "actual_TCP_pose"]

Start rejected

Error example:

RTDEError: RTDE start rejected

Typical causes:

invalid or unsupported recipe,
frequency too ambitious for the selected field set,
security or service access issue,
controller-side resource pressure.

Practical fix order:

Reduce to 125.0 Hz.
Use timestamp, actual_q, actual_TCP_pose only.
Re-add extra fields one by one.

Actual rate drops over time

Common causes:

too many fields at once,
a 500 Hz recipe used for a full monitoring UI,
charting and rendering load,
controller-side packet skipping under load.

Practical fix:

keep 500 Hz for the thinnest possible recipe,
run richer monitoring at 125 Hz,
separate the high-rate twin profile from the diagnostics profile.

GP write does not work

Check all of these:

are you writing to an input_* register rather than an output_* register?
is another RTDE client already controlling that same input variable?
is the field included in the active setup?

Digital twin visible but links are misaligned

If the robot is visible but links appear connected in the wrong order, the most likely cause is a transform mismatch between imported mesh origins and the joint origin chain. Update only the front-end mesh loader and force a hard refresh in the browser.

Digital twin not visible

Check the browser-side 3D debug log first. Useful indicators include:

which mesh files were loaded,
applied scale,
bounding box size,
fallback state.

Hard refresh after front-end changes:

Ctrl + F5