For information on the latest version, please have a look at GL013301.
3.4 RT Stream
Real-Time modes provide a high-speed communication interface that enables external systems to control the robot with minimal latency. RT Stream supports continuous trajectory updates, force-feedback loops, external sensor fusion, and other time-critical operations that require deterministic data exchange.
It offers a structured channel for transmitting real-time motion commands, receiving state information, and monitoring diagnostics at high frequency. RT Stream is widely used in advanced research, adaptive control, and precision applications where standard Auto Mode execution is not sufficient. This section describes the RT session workflow, schema versions, data I/O format, command handling, and diagnostics—core components for implementing real-time external control.