URCaps External Control

ROS
1

Hello,

I’m trying to integrate the UR10e robot to ROS 2 Foxy on Ubuntu 20.04 with the Universal Robots ROS 2 Driver.

I’ve installed the externalcontrol-1.0.5.urcap file on to the UR10e local controller. https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/blob/foxy/ur_robot_driver/doc/install_urcap_e_series.md

Setup:

UR10e (URSoftware 5.11.9)

  • IP-address: 192.160.0.101
  • Subnet mask: 255.255.255.0

URCaps, External Control

  • Host IP: 192.160.0.100
  • Custom port: 50002 (Default - as guide, linked above, instructs)
  • Host name: tht-stationary02

PC (Ubuntu 20.04)

  • IP-address: 192.160.0.100
  • Subnet mask: 255.255.255.0
  • Firewall disabled (tht@tht-stationary02:~$ sudo ufw status verbose → Status: inactive)

I’m able to run the controllers from my computer, getting the right robot position when RViz launching, but not able to play the robot program (External Control)…?

UR10e_External_Control_Error
UR10e_External_Control_Error1920×1921 442 KB

Thank you for considering my request, I will be grateful for any help you can provide.

2

Problem solved! I hadn’t enabled Remote Control on the UR10e HMI… :sweat_smile:

3

Can you explain this a little more? I faced the same situation, but I could not find any Remote Control HMI in the teach pendant.

4

Hello,

I am having a similar issue while using ur_rtde library for external control of the robot (UR3e). I have the external control urcap uploaded on the teach pendant and it is in remote control mode. But the external control script doesn’t start automatically. I checked and the external control urcap is active (settings > system > urcaps). Am I supposed to manually start the script on the teach pendant? But that can’t be done since RTDE requires the robot to be in remote control mode.