Skip to content

Docs: Update tool comm setup for PolyScope X #1588

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
wants to merge 1 commit into
base: main
Choose a base branch
from
Open

Docs: Update tool comm setup for PolyScope X #1588

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
12 changes: 8 additions & 4 deletions ur_robot_driver/doc/setup_tool_communication.rst
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand All @@ -14,7 +14,7 @@ Setting up the tool communication on an e-Series robot
`this issue <https://github.com/UniversalRobots/Universal_Robots_ToolComm_Forwarder_URCap/issues/9>`_
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.

Expand All @@ -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 <install_urcap>` for the **external-control** URCap.

For **PolyScope X**, you can download the latest tool-comm-forwarder URCapX from its `release
page <https://github.com/UniversalRobots/Universal_Robots_ToolComm_Forwarder_URCapX/releases>`_.
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
Expand Down
Loading