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Hardware Setup for UR Series Cobots for ROS 2

To use the UR Series cobot to execute the bin picking example, the robot needs to be connected to a host Linux® machine; MATLAB® can be operated from either Linux or separate Windows® PC connected to same server.

WorkflowROS 2 DeviceMATLABSchematic
1

Ubuntu® – Linux

Windows

2

Ubuntu – Linux

Note

In the above workflows for simulation and cobot, Workflow 2 using Linux machine is recommended.

Set Up Cobot for Windows

The hardware setup required for connecting and controlling a physical UR Series cobot from MATLAB involves configuration of the Teach Pendant software using an external URCap file. The configuration on Windows includes these steps to be performed using the graphical interface of Teach Pendant:

  1. Configure Network Parameters of OEM Control Box

  2. Configure Network Parameters of Windows Computer

  3. Install MATLAB URCap for External Control

  4. Set Up Teach Pendant in Remote Control Mode

Set Up Cobot for Linux

The hardware setup required for connecting and controlling a physical UR Series cobot from MATLAB involves configuration of the Teach Pendant software using an external URCap file. The configuration on Linux includes these steps to be performed using the graphical interface of Teach Pendant:

  1. Configure Network Parameters of OEM Control Box

  2. Configure Network Parameters of Linux Computer

  3. Install MATLAB URCap for External Control

  4. Set Up Teach Pendant in Remote Control Mode