# Universal Robots UR10

In this ModelZoo scene, a **Universal Robots UR10** robot picks up pumpkins from an **entry conveyor** and loads them into **boxes** arriving on an **exit conveyor**. The robot is integrated via the **realvirtual.io Universal Robots Interface** using TCP/IP.

<figure><img src="/files/VCJIqIQhiv2vhagaANEV" alt=""><figcaption><p>Universal Robots modelzoo scene</p></figcaption></figure>

All logic for conveyor control is handled **within the simulation**. The robot must be programmed to react to and control digital I/O signals as listed below.

You need to install [URSIM ](/components-and-scripts/interfaces/universal-robots.md)as a virtual machine on your computer.

## Interface Configuration

To establish communication, open the **⚙️ Settings** panel in the top menu bar and enter the **IP address of your URSIM installation**.

Make sure:

* URSIM is running and reachable at the specified IP address
* Network access is allowed (firewall, network access to the virtual machine and routing configured correctly)
* The I/O signals match the configuration in your robot program

## Signal Mapping

**Digital Outputs (Robot → Simulation)**

| Signal         | Address | Description                              |
| -------------- | ------- | ---------------------------------------- |
| `CloseGripper` | DO\[0]  | Robot command to close the gripper       |
| `RobotMoving`  | DO\[1]  | Robot is currently moving                |
| `BoxLoaded`    | DO\[2]  | Robot signals that a box has been loaded |

**Digital Inputs (Simulation → Robot)**

| Signal          | Address | Description                                   |
| --------------- | ------- | --------------------------------------------- |
| `LoadAvailable` | DI\[0]  | Simulation signals a pumpkin is ready to load |
| `BoxAvailable`  | DI\[1]  | Simulation signals a box is in position       |


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