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.

Universal Robots modelzoo scene

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 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