UR e Series
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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 e 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.
Connect the power supplies to the Cortex and Sensors.
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.
Select 'usbdisk' to view the available URCaps and install the 'externalcontrol-1.0.5.urcap' URCap.
Restart the robot.
After the URCap installation, go to Settings, System, and Network. Change the Network method to Static Address and assign the following:
IP Address: 11.0.0.1
Subnet Mask: 255.255.255.0
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 RoboKit"
Use the teaching pendant to move Joint 4 to a location other than 0 degrees before starting the AMAS app to avoid singularity at the start of the program. The suggested starting position is shown below with corresponding joint values.
The AMAS system operates within the joint limits shown below. If any joint is outside these limits, the system will not work. Please use the teaching pendant to move the joint back into the 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
Steps to enable the Remote Control Mode:
Go to Settings on the teaching pendant
Go to System -> Remote Control
Click on the Enable
Exit the Setting. A new mode of operation icon will appear on the top right. Select Remote Control.
The initial setup is now finished. Follow the instructions on the next page for further guidelines on starting and running the RoboKit.
