After a long and unsuccessful search for the missing parts for my old UR5 robot, I decided to take matters into my own hands. Using a logic analyzer, I analyzed the RS485 communication of the robot. Through various assumptions and tests, I was finally able to program an STM32 microcontroller to handle the communication as a tool interface.
Additionally, I managed to integrate and process the two digital inputs and outputs of the robot. The result is a functioning solution that makes the old UR5 robot fully operational again!
