1.4 Realtime External Control
==============================

Real-time External Control is a UDP/IP-based communication API for users who want to directly control the robot arm from an external PC through the Doosan controller.

.. figure:: /tutorials/images/introduction/realtime_udp.png
   :alt: realtime_udp
   :width: 80%
   :align: center

   Realtime UDP Communication

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It operates independently of the existing TCP/IP-based communication API. At a set period of up to 1 kHz, it sends and receives the input data (external controller → robot controller) and output data (robot controller → external controller) required for real-time control, and you can also send servo control commands (servoj_rt, servol_rt, speedj_rt, speedl_rt, torque_rt) separately.

.. note::
   While the RT channel supports high-speed communication up to 1 kHz,
   the standard TCP/IP API operates at a slower cycle. Monitoring data on the TCP/IP channel is sent at 10 Hz on DRCF v2 and on DRCF v3 before 3.5, and at 50 Hz on DRCF 3.5 or later.

.. toctree::
   :maxdepth: 2

   version