From d4784586ca523d4a5d3872d1d4844e2c382ff733 Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Fri, 28 Nov 2025 11:32:48 +0000 Subject: [PATCH] Docs: Update tool comm setup for PolyScope X --- ur_robot_driver/doc/setup_tool_communication.rst | 12 ++++++++---- 1 file changed, 8 insertions(+), 4 deletions(-) diff --git a/ur_robot_driver/doc/setup_tool_communication.rst b/ur_robot_driver/doc/setup_tool_communication.rst index ffbc625dc..78bbe003e 100644 --- a/ur_robot_driver/doc/setup_tool_communication.rst +++ b/ur_robot_driver/doc/setup_tool_communication.rst @@ -2,8 +2,8 @@ .. _setup-tool-communication: -Setting up the tool communication on an e-Series robot -====================================================== +Setting up the tool communication on an e-Series / UR Series robot +================================================================== .. note:: Currently, there seems to be issues with having the tool communication setup from this guide and @@ -14,7 +14,7 @@ Setting up the tool communication on an e-Series robot `this issue `_ for details and the current state. -The Universal Robots e-Series provides an rs485 based interface at the tool flange that can be used +From the e-Series on, Universal Robots provide an rs485 based interface at the tool flange that can be used to attach an rs485-based device to the robot's tcp without the need to wire a separate cable along the robot. @@ -27,9 +27,13 @@ launch files to utilize the robot's tool communication. Robot setup ----------- -For setting up the robot, please install the **rs485-1.0.urcap** found in the **resources** folder. +For **PolyScope 5**, please install the **rs485-1.0.urcap** found in the **resources** folder. Installing a URCap is explained in the :ref:`setup guide ` for the **external-control** URCap. +For **PolyScope X**, you can download the latest tool-comm-forwarder URCapX from its `release +page `_. +After installation, please make sure to activate tool forwarding in the URCap's application screen. + After installing the URCap the robot will expose its tool communication device to the network. Setup the ROS side