Read Controller Output

R2026b

Read specified signals from UR Controller using RTDE interface

Since R2025a

• 

Read Controller Output block

To add a block to a model, double-click the canvas and start typing the block name. Then, select the block from the list.

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

q — Current joint configuration

numeric vector

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

Data Types: double

qd — Current joint velocities

numeric vector

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

qdd — Current joint accelerations

numeric vector

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

UR Controller IP address — IP address of UR Controller

192.168.1.10 (default) | scalar

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

Enable joint velocity output — Obtain joint velocity through output port

off (default) | on

Enable output port qd to obtain joint velocities.

Enable joint acceleration output — Obtain joint acceleration through output port

off (default) | on

Enable output port qdd to obtain joint accelerations.

Sample time — Sample time

0.1 (default) | any non-negative value that is a multiple of 0.1 | -1

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.

Programmatic Use: Add Block

To add the block programmatically, use the add_block function with one of these library block paths as the source.

"urRTDElib/Read Controller Output"

Example: add_block("urRTDElib/Read Controller Output","myModel/myBlock",MakeNameUnique="on")

Extended Capabilities

C/C++ Code Generation

Generate C and C++ code using Simulink® Coder™.

You can deploy the generated code to platform-specific targets like Windows^® or Linux^® host or to a Raspberry Pi^® target.

Version History

Introduced in R2025a