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.
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)
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)
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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