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