Read Controller Output

Read specified signals from UR Controller using RTDE interface

Since R2025a

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Libraries:
Robotics System Toolbox Support Package for Universal Robots UR Series Manipulators / UR RTDE Blocks

Description

The Read Controller Output block reads the specified output signals generated from the UR Controller of the UR Series cobot using RTDE interface. The values can be read for both trapezoidal or non-trapezoidal motion of the cobot.

Ports

Output

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Current joint configuration (in radians) of the cobot in the range [-2π, 2π], specified as a 1-by-6 vector.

Data Types: double

Current joint velocities (in radians per second) of the cobot, specified as a 1-by-6 vector.

Dependencies

To enable this port, select the Enable joint velocity output parameter.

Data Types: double

Current joint accelerations (in radians per second squared) of the cobot, specified as a 1-by-6 vector.

Dependencies

To enable this port, select the Enable joint acceleration output parameter.

Data Types: double

Parameters

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Specify the IP address of UR Controller corresponding to the UR Series cobot to which you are establishing the connection.

Enable output port qd to obtain joint velocities.

Enable output port qdd to obtain joint accelerations.

Enter the time interval at which the block reads values from the UR RTDE Controller.

When you set this parameter to -1, Simulink determines the best sample time for the block based on the block context within the model.

Version History

Introduced in R2025a