RTDE does not accept robot script commands directly, so it cannot transmit movej or another script command in the same way as the script interfaces on ports 30001, 30002, and 30003. Use RTDE general-purpose registers to exchange motion data with robot-side logic instead.
RTDE Command Limitation
Do not send a movej text command through RTDE. The protocol exchanges configured data fields rather than directly executing script statements. If the application must submit script commands directly, RTDE is not the appropriate interface for that operation.
Register-Based Motion Architecture
| Interface path | Supported use in the evidence |
|---|---|
| RTDE | Exchange data through general-purpose registers, including the next target pose |
Ports 30001, 30002, and 30003
|
Send script commands directly |
To control movement through RTDE, separate data transfer from command execution. The external controller updates the next target pose in general-purpose registers. Robot-side logic must then consume that pose and perform the required movement; the evidence does not specify the register identifiers, motion command, or synchronization logic.
Implementation and Verification
- Define an RTDE data exchange that includes the general-purpose registers required to represent the next target pose.
- Update those registers from the external controller using the same target-pose pattern demonstrated by the available RTDE sample.
- Provide robot-side logic that reads the register data and initiates movement. Do not assume that writing a pose automatically executes
movej. - Verify separately that the register values reach the controller and that the robot-side logic consumes the intended pose before enabling production movement.
The available evidence does not define acknowledgements, update timing, pose representation, or safe sequencing. Treat those items as application requirements and verify them in the selected RTDE sample and robot program before commanding physical motion.
FAQ
Can RTDE send a movej command directly?
No. RTDE cannot send movej or other script commands directly; use a script interface or exchange motion data through general-purpose registers.
How can RTDE update a robot motion target?
Write the next target pose to configured general-purpose registers, following the target-pose pattern in the RTDE sample. Robot-side logic must read that data and execute the movement.
Which ports accept robot script commands directly?
The evidence identifies ports 30001, 30002, and 30003 as script-command interfaces, in contrast to RTDE's register-based data exchange.
