Universal Robots Software Architecture

Technical Questions Robot Communication
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Hi community! I am currenty gathering documentation about how the UR e-Series work, thinking about some ROS control and camera integration. However, I’ve spent some days looking for a clue about how is the software architecture of the robot. I know this is not strictly necessary because I can just use the ROS driver documentation and integrate the camera through an URCap and use ROS to control, but I would like to know if the robot is running over a modified version of Linux, if it’s running ROS or how is it structured internally.

I would like to know it in order to be able to modify and adapt the robot to my needs. The only info I got was from this link, but it’s just how the driver is interacting with the external interface.

Thanks in advance!

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Any ideas? Thanks for your help!

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I don’t know much about the real time controller, although I saw the word fpga a few times in some of the logs.

The programming interface (polyscope) that talks to the real time controller is running on an Intel Atom single board with ia32(i686) architecture running Debian 8.9 Jessie (e-series).