# Universal Robots Real-Time Data Exchange (RTDE)

**Canonical:** https://apis.io/apis/universal-robots/rtde/  
**Provider:** Universal Robots — https://apis.io/providers/universal-robots/  
**Documentation:** https://docs.universal-robots.com/Universal_Robots_ROS_Documentation/doc/ur_client_library/doc/architecture/rtde.html

Universal Robots Real-Time Data Exchange (RTDE) is one of 7 APIs that [Universal Robots](https://apis.io/providers/universal-robots/) publishes on the [APIs.io](https://apis.io/) network. Tagged areas include RTDE, Real-Time, Telemetry, TCP, and Binary Protocol. The published artifact set on APIs.io includes API documentation.

Real-Time Data Exchange is Universal Robots' synchronous binary TCP protocol on port 30004 that lets external applications stream robot state at the controller's 500 Hz cycle (e-Series) or 125 Hz cycle (CB3) and write inputs back into the controller. RTDE is the canonical integration point for vision-guided motion, force/torque processing, OEE telemetry, and ROS/ROS 2 drivers. Universal Robots publishes a C++ Client Library and a Python Client Library plus a ROS 2 RTDE publisher node.

## Machine-readable artifacts (6)

- **Documentation** — https://docs.universal-robots.com/
- **Documentation** — https://www.universal-robots.com/articles/ur/interface-communication/real-time-data-exchange-rtde-guide/
- **SDKs** — https://github.com/UniversalRobots/RTDE_Python_Client_Library
- **SDKs** — https://github.com/UniversalRobots/Universal_Robots_Client_Library
- **SDKs** — https://github.com/UniversalRobots/RTDE_ROS2_Publisher
- **APIsJSON** — https://raw.githubusercontent.com/api-evangelist/universal-robots/refs/heads/main/apis.yml

## Other Universal Robots APIs (6)

- [Universal Robots Dashboard Server](https://apis.io/apis/universal-robots/dashboard-server/)
- [Universal Robots Primary and Secondary Client Interface](https://apis.io/apis/universal-robots/primary-secondary-client-interface/)
- [URScript](https://apis.io/apis/universal-robots/urscript/)
- [URCap SDK (PolyScope 5)](https://apis.io/apis/universal-robots/urcap-sdk/)
- [PolyScope X URCap SDK](https://apis.io/apis/universal-robots/polyscopex-urcap-sdk/)
- [Universal Robots Real-Time Interface](https://apis.io/apis/universal-robots/realtime-interface/)

## Tags

RTDE, Real-Time, Telemetry, TCP, Binary Protocol

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Profiled by [API Evangelist](https://apievangelist.com) and published on [APIs.io](https://apis.io/apis/universal-robots/rtde/). The API's provider profile, Kin Score and agent-readiness rating are at https://apis.io/providers/universal-robots/.