UR CB Series

The hardware package components are designed for a plug-and-play experience. Follow these instructions for the initial setup:

• Attach the Camera/Sensor to the tripod and place it in a convenient location based on your use case.

• Connect the Cortex to the control box of the UR CB Series robot using an Ethernet cable.

• Ensure all connections are as per the block diagram.

• Connect the router power supply and power on the router.

• Connect the Cortex to the router using WiFi.

• Connect the Sensor(s) to the Cortex using the splitter cable. Connect each sensor, matching the number indicated on the cable.

• Configure the router settings to give network access to the Cortex's IP address. Find the IP addresses on the case.

• Connect the power supplies to the Cortex and Sensor(s).

• Check that the emergency stop is released and power on the UR e Series robot. Wait for the teaching pendant to finish loading.

• Once the mechanical assembly is complete and the robot is powered on, connect the provided flash drive to the teach pendant USB port.

• To install the URCaps, go to the Settings Tab and navigate to URCaps.

• Press the "+" button to add the UR caps from the USB.

Adding the URCaps

• Select 'usbdisk' to view the available URCaps and install the 'externalcontrol-1.0.5.urcap' URCap.

externalcontrol-1.0.5.urcap

URCap Installation

• Restart the robot.

• After the URCap installation, go to Settings, then System, and then Network. Change the Network method to Static Address and assign the following:

  • IP Address: 11.0.0.1

  • Subnet Mask: 255.255.255.0

URCap Network Configuration

• Click Apply and Exit.

• In the installation tab on the teach pendant, navigate to the URCaps section. Select External Control and set the following parameters:

  • Remote Host IP: 11.0.0.2

  • Port: 50002

  • Host Name: "Control from Cortex"

Configuration Verification

Use the teaching pendant to move the Joint 4 to a location other than 0 degree before starting the AMAS app to avoid singularity at the start of the program. The suggested starting position is shown as below with corresponding joint values.

Robot Joint Transformation

• The AMAS system operates on the joint limits as shown below. If any of the joint is outside of these limits, then the system will not work. Please use the teaching pendant to move the joint back into the limit.

Joint Name	Lower Limit	Upper Limit
Joint 1 (Base)	-170	170
Joint 2 (Shoulder)	-170	0
Joint 3 (Elbow)	0	170
Joint 4 (Wrist 1)	30	170
Joint 5 (Wrist 2)	30	170
Joint 6 (Wrist 3)	-170	170

1. To ensure the control script launches on the autostart of the UR robot, the following additional steps must be completed.

   • Click the Program Robot button

   • Click on Load Program button

   • Select extend.urp from the external USB drive and click the open button.

   • Save the program in the home directory by clicking File -> Save

   • Navigate to the installations tab and go to Load/Save tab

   • Click on Save as and save the installation as "extend"

   • After the installation is saved successfully, it should appear as the current installation

Software Setup

Please follow the steps in the Cortex Firmware Configuration to set up the UR CB series arms to use with AMAS.