Universal Robots

Please note: Universal Robots interface is only available in realvirtual.io Professional.

This interface conncets the real or virtual robot controller with realvirtual.io. You can get URIM als a virtual machine from the Universal Robots website.

You control the virtual robot in realvirtual.io like the real one. The axis positions are transmitted to realvirtual.io and the robot’s inputs and outputs are available as signals in realvirtual.io. The communication for axes and robot outputs is done via the RTDE interface of Universal Robots. The robot inputs are transmitted to the robot using URScript commands. More information about the interfaces can be found here: https://www.universal-robots.com/articles/ur/interface-communication/remote-control-via-tcpip/

Demo scene

In the folder realvirtual/private/interfaces/UniversalRobots there is a demo scene where pumkins are loaded into a box. The PLC logic is mapped in realvirtual.io with LogicSeps within the Gameobject Logics. The UR robot is controlled with input and output signals. In the scene you will find a UR10 robot that is used for the demo scene and a fully prepared UR3 robot that is switched off.

The Interface folder also contains realvirtualdemo.script, the script for URSIM. If you copy this script to the robot controller, you can run the demo scene.

URSIM preparation

You can download URSIM from the Universal Robots website. There you will find a virtual machine image which can be run with VirtualBox or VMWare. The communication with the (virtual) robot controller is done via TCP-IP, this is why it is important, that the robot controller and realvirtual.io are connected to the same network. Please use bridged network settings within the Virtual Machine:

After you have started the virtual robot controller (in URSIM you can find all available robot controllers for UR3, UR5, UR10 and so on), you have to turn on the network in the robot controller and use DHCP or a static network address in your network:

Robot preparation

You need to prepare a robot with the usual realvirtual.io kinematics. In the UniversalRobot interface you have to assign the drives and the signals. You can leave signals empty that you do not need.

In the demo scene there is a prepared UR5 and UR10 robot.

Interface properties

Is Connected

Is true, if the connection is sucessfully established.

Ur Ip Adress

The IP adress of the (virtual) robot controller.

Output Frequency

The Frequence in reads per second, in which the outputs should be read from URSIM

Axis

Here you need to assign all Drives of the 6 robot axis.

Digital Outputs

Assigned PLCOutputBool Signals to the robot outputs.

Configurable Outputs

Assigned PLCOutputBool Signals to the robot configurable outputs.

Digital Inputs

Assigned PLCInputBool Signals to the robot inputs.

Configurable Inputs

Assigned PLCInputBool Signals to the configurable robot inputs.

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